Abstract
This paper evaluates the influence of target location on robot repeatability. An experiment was set up to analyze the effect of the three-dimensional target location on robot repeatability. An error-analysis model to determine repeatability based on the robot's kinematic model and known robot parameters was developed. Experimental results indicated that there was a significant statistical difference between repeatability at different locations in the workspace and that the height of the target point influenced repeatability. Experimental results tended to those derived from the error-analysis kinematic model. Hence, to determine the optimal target location, there is no need for extensive experimentation; instead, only a few target points can be sampled and compared to an error-analysis model.
| Original language | English |
|---|---|
| Pages (from-to) | 443-449 |
| Number of pages | 7 |
| Journal | Robotica |
| Volume | 18 |
| Issue number | 4 |
| DOIs | |
| State | Published - 1 Jul 2000 |
ASJC Scopus subject areas
- Software
- Control and Systems Engineering
- General Mathematics
- Computer Science Applications