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    PROCEEDINGS

    Efficient Computational Inverse Method for Positioning Accuracy Estimation of Industrial Robot Under Stochastic Uncertainties

    Jinhe Zhang2, Jie Liu1,2,*

    The International Conference on Computational & Experimental Engineering and Sciences, Vol.25, No.4, pp. 1-2, 2023, DOI:10.32604/icces.2023.09279

    Abstract The small uncertainties of geometric parameters of industrial robot, which are caused by links manufacturing and service wear errors, can deteriorate the positioning accuracy of end-effector through multi-level propagation and is difficult to be measured and compensated by high-precision instruments. Hence, an efficient inverse identification method of parameter uncertainty based on global sensitivity analysis and optimal measurement point selection is proposed. In order to ensure the universality of identification results in calibration and control works, the standard Denavit-Hartenberg (D-H) method is employed to establish the kinematic model of series 6 degrees of freedom (DOF) robots.… More >

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