Sequential roundoff for improving robot position accuracy

Research output: Chapter in Book/Report/Conference proceedingChapter

Abstract

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
Pages937-942
Number of pages6
Edition1
StatePublished - Dec 1 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
Number1
Volume82

Other

OtherProceedings of the 1995 ASME Design Engineering Technical Conference
CityBoston, MA, USA
Period9/17/959/20/95

All Science Journal Classification (ASJC) codes

  • Engineering(all)

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