Estimation of the accuracy of a robot manipulator

In order to select high-accuracy robots for precise assembly tasks, a method for estimating the robot's accuracy is needed. Based on the developed error model [1]-[3] describing the accuracy of a robot manipulator resulting from the kinematic errors, a statistical estimation procedure for robot...

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Bibliographic Details
Published inIEEE transactions on automatic control Vol. 30; no. 3; pp. 304 - 306
Main Authors CHI-HAUR WU, LEE, C. C
Format Journal Article
LanguageEnglish
Published New York, NY IEEE 01.03.1985
Institute of Electrical and Electronics Engineers
Subjects
Applied sciences
Computer science; control theory; systems
Control theory. Systems
Eigenvalues and eigenfunctions
Electrons
Exact sciences and technology
Large-scale systems
Linear systems
Manipulators
Reduced order systems
Robotic assembly
Robotics
Robotics and automation
Robots
Vehicle dynamics
Accuracy
Statistical estimation
Robotics
Manipulator
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Summary:In order to select high-accuracy robots for precise assembly tasks, a method for estimating the robot's accuracy is needed. Based on the developed error model [1]-[3] describing the accuracy of a robot manipulator resulting from the kinematic errors, a statistical estimation procedure for robot accuracy is developed. By calculating the Cartesian errors at many different arm positions in the known world, the robot accuracy can be estimated by using the maximum likelihood estimate for the covariance matrix of these Cartesian errors.
Bibliography:ObjectType-Article-2
SourceType-Scholarly Journals-1
ObjectType-Feature-1
content type line 23
ISSN:0018-9286
1558-2523
DOI:10.1109/TAC.1985.1103944