TY - GEN
T1 - Sequential roundoff for improving robot position accuracy
AU - Ji, Zhiming
N1 - Publisher Copyright:
© 1995 American Society of Mechanical Engineers (ASME). All rights reserved.
PY - 1995
Y1 - 1995
N2 - 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.
AB - 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.
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U2 - 10.1115/DETC1995-0123
DO - 10.1115/DETC1995-0123
M3 - Conference contribution
AN - SCOPUS:85103458309
T3 - Proceedings of the ASME Design Engineering Technical Conference
SP - 937
EP - 942
BT - 21st Design Automation Conference
PB - American Society of Mechanical Engineers (ASME)
T2 - ASME 1995 Design Engineering Technical Conferences, DETC 1995, collocated with the ASME 1995 15th International Computers in Engineering Conference and the ASME 1995 9th Annual Engineering Database Symposium
Y2 - 17 September 1995 through 20 September 1995
ER -