Title :
Characterization of micro displacements of serial robot
Author :
Dandash, Diala ; Brethé, Jean-François ; Vasselin, Eric ; Lefebvre, Dimitri
Author_Institution :
Group of Electrotechnics & Automatism, Le Havre Univ., Le Havre, France
Abstract :
Robot precision is usually characterized by repeatability and accuracy. In this paper, we show that these indices are not sufficient to describe the robot behavior in the micrometer scale. New precision performances are proposed and the experimental procedure to estimate these indices is described. The main results of the experimental work performed on a SCARA robot are displayed. Lostmotion, reversibility and spatial resolution have to be taken into account when the robot has to be controlled precisely in the micrometer scale.
Keywords :
manipulators; micropositioning; motion control; SCARA robot; accuracy; lost motion; microdisplacement characterization; micrometer scale control; micromovement; micropositioning; precision performance; repeatability; reversibility; robot behavior; robot control; robot precision; serial robot; spatial resolution; Hysteresis; Jacobian matrices; Joints; Position measurement; Service robots; Spatial resolution;
Conference_Titel :
Methods and Models in Automation and Robotics (MMAR), 2012 17th International Conference on
Conference_Location :
Miedzyzdrojie
Print_ISBN :
978-1-4673-2121-1
DOI :
10.1109/MMAR.2012.6347895
