Robotic technologies are becoming more integrated with complex manufacturing environments. The addition of greater complexity leads to more sources of faults and failures that impact a robot system's reliability. Industrial robot health degradation needs to be assessed and monitored to minimize unexpected shutdowns, improve maintenance techniques, and optimize control strategies. A quick health assessment methodology is developed at the U.S. National Institute of Standards and Technology (NIST) to quickly assess a robot's tool center position and orientation accuracy degradation. An advanced sensing development approach to support the quick health assessment methodology is also presented in this paper. The advanced sensing development approach includes a seven-dimensional (7-D) measurement instrument (time, X, Y, Z, roll, pitch, and yaw) and a smart target to facilitate the quick measurement of a robot's tool center accuracy.

中文翻译：

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工业机器人健康退化快速健康评估及配套先进传感发展

机器人技术正与复杂的制造环境更加融合。更高的复杂性会导致更多的故障和故障源，从而影响机器人系统的可靠性。需要评估和监控工业机器人的健康退化，以最大限度地减少意外停机、改进维护技术并优化控制策略。美国国家标准与技术研究院 (NIST) 开发了一种快速健康评估方法，以快速评估机器人的工具中心位置和方向精度下降情​​况。本文还介绍了一种支持快速健康评估方法的先进传感开发方法。先进的传感开发方法包括七维 (7-D) 测量仪器（时间、X、Y、Z、滚动、俯仰、