Pose Accuracy Analysis of Robot Manipulators Based on Kinematics

Jian Ye Zhang; Chen Zhao; Da Wei Zhang

doi:10.4028/www.scientific.net/AMR.201-203.1867

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Design and Research of a New Portable Barrel-Scrubbing Robot
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Analysis, Design and Simulation of the Biomimetically Facial Material on the Humanoid Robot
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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 201-203Pose Accuracy Analysis of Robot Manipulators Based...

Pose Accuracy Analysis of Robot Manipulators Based on Kinematics

Abstract:

The pose accuracy of robot manipulators has long become a major issue to be considered in its advanced application. An efficient methodology to generate the end-effector position and orientation error model of robotic manipulator has been proposed based on the differential transformation matrix theory. According to this methodology, a linear error model that described the end-effector position and orientation errors due to robot kinematics parameters errors has been presented. A computer program to generate the error model and perform the accuracy analysis on any serial link manipulator has been developed in MATLAB. This methodology and software are applied to the accuracy analysis of a Phantom Desktop manipulator. The positioning error of the manipulator in its workspace cross section (XOZ) has been plotted as 3D surface graph and discussed.

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Advanced Manufacturing Systems, ICMSE 2011

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Periodical:

Advanced Materials Research (Volumes 201-203)

Pages:

1867-1872

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.201-203.1867

Citation:

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Online since:

February 2011

Authors:

Jian Ye Zhang, Chen Zhao, Da Wei Zhang

Keywords:

Error Model, Pose Accuracy, Robot Manipulator

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