ON AN ACCURACY PROBLEM OF ROBOT MANIPULATORS.

C. H. Wu*, C. C. Lee

*Corresponding author for this work

Research output: Contribution to journalConference article

1 Scopus citations

Abstract

The problem of robot accuracy is studied. Based on an error model developed by C. H. Wu (1983, 1984), which describes the accuracy of a robot manipulator resulting from kinematic errors, a statistical analysis is performed to obtain an estimation to the robot accuracy which is measured in terms of the covariance matrix of the Cartesian errors of the end-effector. The maximum likelihood estimate for this covariance matrix is derived. The presented estimate entails a measurement of Cartesian errors at many different arm positions in the known world, without actually dealing with individual kinematic errors.

Original languageEnglish (US)
Pages (from-to)1636-1637
Number of pages2
JournalProceedings of the IEEE Conference on Decision and Control
DOIs
StatePublished - 1984

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

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