Pose Accuracy Analysis of Robot Manipulators Based on Kinematics

Abstract:

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The pose accuracy of robot manipulators has long become a major issue to be considered in its advanced application. An efficient methodology to generate the end-effector position and orientation error model of robotic manipulator has been proposed based on the differential transformation matrix theory. According to this methodology, a linear error model that described the end-effector position and orientation errors due to robot kinematics parameters errors has been presented. A computer program to generate the error model and perform the accuracy analysis on any serial link manipulator has been developed in MATLAB. This methodology and software are applied to the accuracy analysis of a Phantom Desktop manipulator. The positioning error of the manipulator in its workspace cross section (XOZ) has been plotted as 3D surface graph and discussed.

Info:

Periodical:

Advanced Materials Research (Volumes 201-203)

Edited by:

Daoguo Yang, Tianlong Gu, Huaiying Zhou, Jianmin Zeng and Zhengyi Jiang

Pages:

1867-1872

DOI:

10.4028/www.scientific.net/AMR.201-203.1867

Citation:

J. Y. Zhang et al., "Pose Accuracy Analysis of Robot Manipulators Based on Kinematics", Advanced Materials Research, Vols. 201-203, pp. 1867-1872, 2011

Online since:

February 2011

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Price:

$35.00

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