Distance and positioning accuracy for robotic manipulators

Author

Zhou, Xuecai ; Zhang, Qixian ; Gruver, William A. ; Guo, Gongliang

Author_Institution

Inst. for Robotics Res., Beijing Univ. of Aeronaut. & Astronaut., China

Volume

2

fYear

1994

fDate

12-16 Sep 1994

Firstpage

1399

Abstract

This research concerns the relationship between distance accuracy and positioning accuracy for robotic manipulators. We propose an approach for calibration and verification of the positioning accuracy based on a polynomial approximation to the workspace. Utilizing singular value decomposition a method is developed for distance error compensation. Computed results show that the distance accuracy and positioning accuracy of the robot can be improved by use of the proposed technique. The technique is illustrated for a PUMA 560 industrial robot

Keywords

approximation theory; calibration; error compensation; manipulators; polynomials; singular value decomposition; PUMA 560 industrial robot; calibration; distance accuracy; distance error compensation; polynomial approximation; positioning accuracy; robotic manipulators; singular value decomposition; verification; Calibration; Coordinate measuring machines; Extraterrestrial measurements; Manipulators; Manufacturing industries; Orbital robotics; Position measurement; Robot kinematics; Robotic assembly; Service robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems '94. 'Advanced Robotic Systems and the Real World', IROS '94. Proceedings of the IEEE/RSJ/GI International Conference on

Conference_Location

Munich

Print_ISBN

0-7803-1933-8

Type

conf

DOI

10.1109/IROS.1994.407501

Filename

407501