By Topic

Positioning error analysis for robot manipulators with all rotary joints

Sign In

Full text access may be available.

To access full text, please use your member or institutional sign in.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Jigien Chen ; University of Maryland, College Park, MD ; Lih-Ming Chao

Advanced industrial robots are commanded to accomplish different tasks with program sequences that are executed in digital computers. The operating software within these computers provides users with information on positions and orientations of the end effectors by computing them as functions of the joint variables. These functions are generally not exact enough such that differences between the computed and the actual positions can be significant. Error sources that contribute to these differences for robots with rotary joints are examined. The effects of these errors are parameterized and measurement data are fitted to obtain the values of these parameters. It is concluded that with sufficient but not exhaustive detail in the error modeling the differences can be reduced significantly from 5.9-mm mean error with nominal model down to 0.28-mm mean error after error compensation.

Published in:

Robotics and Automation, IEEE Journal of  (Volume:3 ,  Issue: 6 )