A Relialble Approach to Compute the Forward Kinematics of Robot with Uncertain Geometric Parameters [4]
论文作者:佚名论文属性:短文 essay登出时间:2007-08-06编辑:点击率:12547
论文字数:15077论文编号:org200708061140494387语种:英语 English地区:中国价格:免费论文
关键词:Relialble ApproachRobotUncertain Geometric Parameters
OTOMAN SV3 industrial robot were shown in Table 1.
Table1 Design parameters of MOTOMAN SV3 robot
Link coordinate system
a /mm
α
/℃
d /mm
θi
/ °
1
150
-90
0
-170~ 170
2
260
0
0
-45~ 150
3
60
-90
0
-70~ 190
4
0
90
260
-180~ 180
5
0
-90
0
-135~ 135
6
0
0
90
-350~ 350
Based on the nominal (design) kinematic parameters those were shown in Table 1, the end-effector working envelope can be calculated as follows by the presented method in this paper.
Due to the tolerance and manufacturing error, 0.1% of the design value is taken for every kinematic parameter as the parameter deviation from the nominal one, that is, the value is fall in the interval [1-0.05%,1+0.05%] after normalization. The actual working envelop for the robot end-effector could be obtained as following shows by using the presented method.
Conclusion and remarks
By representing all uncertain geometric parameters, a new approach to determine the static pose (position and orientation) of the robot end effector in space was proposed through evaluating interval functions. A reliable computation strategy to is proposed also to overcome overestimation, the major drawback in conventional interval computation.
Parameters with interval uncertainties instead of fixed values are used to compute the forward kinematic. In this way, the actual robot end-effector envelop can be determined, which is essential for the robot off-line programming, obstacle autonomous avoidance, etc.
In most cases, the error distribution should be identified, that is, with known end-effector position error to determine the robot kinematic parameter deviation. It is important for the robot calibration and robot production. Using the interval theory to solve this problem inversely is ongoing.
ACKNOWLEDGEMENTS
The research reported in this paper was supported by China Postdoctoral
Science Foundation and the National Nature Science Foundation of China (10072014).
Reference
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