Sequential roundoff for improving robot position accuracy

Research output: Chapter in Book/Report/Conference proceedingChapter


A robot can only reach discrete locations within its workspace due to its finite encoder counts. Actual position and orientation reached by end-effectors are therefore the result of roundoff in the encoder counts. Traditionally the roundoff is carried out at the end of inverse kinematics, which produces the propagation and accumulation of the roundoff errors (except for Cartesian type of robot). We proposed a sequential roundoff procedure during the inverse kinematics process to compensate the roundoff errors. Numerical analysis shows that this method can lead to significant improvement in the positioning accuracy. Our study also shows that the sequence with which the inverse is carried out affects the improvement. Selection of sequence for inverse kinematics is discussed.

Original languageEnglish (US)
Title of host publication21st Annual Design Automation Conference
Number of pages6
StatePublished - 1995
EventProceedings of the 1995 ASME Design Engineering Technical Conference - Boston, MA, USA
Duration: Sep 17 1995Sep 20 1995

Publication series

NameAmerican Society of Mechanical Engineers, Design Engineering Division (Publication) DE


OtherProceedings of the 1995 ASME Design Engineering Technical Conference
CityBoston, MA, USA

All Science Journal Classification (ASJC) codes

  • General Engineering


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