Abstract: The influences of
joints' error, motion history, speed and robot posture on
repeatability are analyzed and the mathematical expressions of
the quantity, direction and distribution of the stochastic
positional error are derived. Using this model the magnitude and
direction of the stochastic positional error after any motion can
be preestimated and compensated.
Key words:
Robot Repeatability Stochastic
positional error
* This project is supported by Doctoral Foundation of National Education
Committee of China. Manuscript received on April 20, 1994
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