Trajectory design that magnifies robot joint error based on sensitivity analysis and its origin error measurement using video captured by a camera

• Published in: Kikai Gakkai ronbunshū = Transactions of the Japan Society of Mechanical Engineers Vol. 89; no. 919; p. 22-00310
• Main Authors: KOIKE, Takeshi, OKADA, Masafumi
• Format: Journal Article
• Language: Japanese
• Published: The Japan Society of Mechanical Engineers 01.03.2023
• Subjects: Calibration; Consumer-grade camera; Error analysis; Robot joint error; Sensitivity; Trajectory design

For industrial welding robots using the teaching-playback method, repeatability is more important than absolute accuracy. However, when a robot is replaced due to failure or other reasons, the tip position is shifted because the error factors related to tip positioning are different between the robo...