Analysis and compensation of positioning errors of robotic systems by an interactive method

被引：13

作者：

Dahmane, Sid-Ahmed ^{[1
]}

Slimane, Abdelkader ^{[2
,3
]}

Chaib, Mohammed ^{[4
]}

Kadem, Mohammed ^{[5
]}

Nehari, Larbi ^{[5
]}

Slimane, Sid-Ahmed ^{[2
,6
]}

Azzedine, Abdelwahab ^{[1
]}

机构：

[1] Univ Djilali Liabes Sidi Bel Abbes, Lab Struct & Solids Mech LMSS, Sidi Bel Abbes 22000, Algeria

[2] Univ Sci & Technol Oran Mohamed Boudiaf, Dept Genie Mecan, Lab Mecan Appliquee, USTO MB, BP 1505,El Mnaouer, Oran 31000, Algeria

[3] Univ Djillali Liabes Sidi Bel Abbes, Dept Mech Engn, Lab Mat & React Syst LMSR, Bp 89,Cite Ben Mhidi Sidi Bel Abbes, Sidi Bel Abbes 22000, Algeria

[4] CTR Univ Ain Temouchent, Lab Intelligent Struct, DGRSDT, Ain Temouchent 46000, Algeria

[5] Univ Djillali liabes Sidi, Fac Elect Engn, Sidi Bel Abbes, Algeria

[6] Ctr Satell Dev CDS, BP 4065,Ibn Rochd USTO, Oran, Algeria

来源：

JOURNAL OF THE BRAZILIAN SOCIETY OF MECHANICAL SCIENCES AND ENGINEERING | 2023年 / 45卷 / 02期

关键词：

Accuracy; Denavit-Hartenberg parameters (D-H); Static parameters; Robot manipulator; DOE analysis; EXPERIMENTAL-DESIGN APPROACH; OPTIMIZATION; CALIBRATION; PIPELINE; DOE;

D O I：

10.1007/s40430-023-04025-z

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

In this work, we study the parameters influencing the positioning and rotation accuracy of industrial robot manipulators. From the Denavit-Hartenberg model (standard or modified DH) and the generalized transformation matrix, position and rotation is carried out in the general case and then applied to the Puma 560 robot. To illustrate this work, a program is developed using the symbolic calculation tools of this language was developed for the calculation of the robot's precision for given absolute uncertainties. Calculate errors positions in each case. Once the error values have been calculated and compared with other authors, we use these results to determine the influence of each parameter on the errors positions, and to see which is the most influential and secondly proposed a model that represents the analytical part of this method and gives a confidence interval of each parameter.

引用

页数：13

共 31 条

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