ON AN ACCURACY PROBLEM OF ROBOT MANIPULATORS.

C. H. Wu; C. C. Lee

doi:10.1109/cdc.1984.272357

ON AN ACCURACY PROBLEM OF ROBOT MANIPULATORS.

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

^*Corresponding author for this work

Research output: Contribution to journal › Conference article › peer-review

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 language	English (US)
Pages (from-to)	1636-1637
Number of pages	2
Journal	Proceedings of the IEEE Conference on Decision and Control
DOIs	https://doi.org/10.1109/cdc.1984.272357
State	Published - 1984

ASJC Scopus subject areas

Control and Systems Engineering
Modeling and Simulation
Control and Optimization

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10.1109/cdc.1984.272357

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title = "ON AN ACCURACY PROBLEM OF ROBOT MANIPULATORS.",

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.",

author = "Wu, {C. H.} and Lee, {C. C.}",

year = "1984",

doi = "10.1109/cdc.1984.272357",

language = "English (US)",

pages = "1636--1637",

journal = "Proceedings of the IEEE Conference on Decision and Control",

issn = "0191-2216",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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T1 - ON AN ACCURACY PROBLEM OF ROBOT MANIPULATORS.

AU - Wu, C. H.

AU - Lee, C. C.

PY - 1984

Y1 - 1984

N2 - 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.

AB - 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.

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U2 - 10.1109/cdc.1984.272357

DO - 10.1109/cdc.1984.272357

M3 - Conference article

AN - SCOPUS:0021642157

SN - 0191-2216

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EP - 1637

JO - Proceedings of the IEEE Conference on Decision and Control

JF - Proceedings of the IEEE Conference on Decision and Control

ER -

ON AN ACCURACY PROBLEM OF ROBOT MANIPULATORS.

Abstract

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