SLAM-Based Performance Evaluation of Industrial Robotic Arms*

Abstract

Performance evaluation is critical for ensuring the accuracy, efficiency, and reliability of industrial robotic arms. Traditional measurement methods, including contact-based techniques (e.g., coordinate measuring machines and ball-bar systems) and non-contact systems (e.g., laser trackers and optical coordinate measuring machines), offer high precision but are often costly, complex to install, and constrained by environmental factors. To address these limitations, this study proposes a SLAM-based performance evaluation method that leverages LiDAR to track robotic motion without requiring external calibration references. This approach provides a cost-effective and flexible alternative to conventional metrology techniques. However, integrating SLAM into the ISO 9283 framework presents challenges related to accuracy, stability, and measurement consistency. To assess its feasibility, this study evaluates the SLAM-based system by analyzing key performance parameters, ensuring its alignment with industrial requirements. The results demonstrate that the LiDAR-based SLAM system achieves an RMSE of 0.0353 mm in trajectory estimation, confirming its precision and stability. These findings validate the system’s capability as a reliable benchmarking tool for robotic arm performance assessment.