Position Error Sensitivity Analysis for Polishing Robot

Abstract

t is the goal of this paper to describe an error analysis methodology for polishing robot on a manufacturing floor. With the generalized errors considered in the model, the end-effector position and orientation errors are calculated as a function of the generalized error. The analysis is to determine which physical errors significantly influence the end-effector error. The method and computer program have been applied to the performance evaluation of a robotic manipulator to be used in a polishing robot. This methodology can be applied to estimate calibration error and give the severity value to help the designer to select the polishing robot parameters.

Analysis of a motion planning problem for sweet-pepper harvesting in a dense obstacle environment

“…Sensitivity analysis is not a commonly used instrument for performance analysis of robotic systems. Some examples include sensitivity analysis focussing on improving trajectories (de Luca, Lanari, & Oriolo, 1991), comparing robot designs (Tannous, Caro, & Goldsztejn, 2014), or positioning errors of the end-effector (Zhang, Ba, & Mu, 2012). These studies mostly concentrated on the influence of robot parameters.…”

Kinematic sensitivity analysis of manipulators using a novel dimensionless index

“…To calibrate a six DOFs industrial manipulator, Qi et al [21] used a mathematical model based on the Jacobian matrix. In order to discover the significance of the influence of the physical errors on the end-effector error of a manipulator, Zhang et al [22] carried out an error analysis based on the DH matrix. Their method can be used to estimate the error calibration of other manipulators.…”

“…It should be noted that for the majority of the work cited in [14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30], most sensitivity indices are obtained by:…”