An optimization technique for identifying robot manipulator parameters under uncertainty

• Published in: SpringerPlus Vol. 5; no. 1; p. 1771
• Main Authors: Li, Kuan-Lin, Yang, Wu-Te, Chan, Kuei-Yuan, Lin, Pei-Chun
• Format: Journal Article
• Language: English
• Published: Cham Springer International Publishing 12.10.2016; Springer Nature B.V
• Subjects: Calibration; Engineering; Humanities and Social Sciences; multidisciplinary; Science; Science (multidisciplinary); Trajectory planning; Robot manipulator; Geometric tolerance; Uncertainties; Optimization

Robot manipulators enable large-scale factory automation of simple and repeated tasks. Each manipulation is the result of the robot design and the command inputs provided by the operator. In this study, we focus on the accuracy improvement of practical robot manipulation under uncertainty, resulting...