Granular space structure on a micrometric scale for industrial robots

被引：4
|
作者：
Brethe, Jean-Francois
Lefebvre, Dimitri
机构：
来源：
PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10 | 2007年
关键词：
D O I：
10.1109/ROBOT.2007.364239
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
We study the statistical relationship between angular position and target for industrial robots on a micrometric scale and this leads us to understand the angular position stochastic structure. The concept of granular angular space is introduced and transposed in the Cartesian space. Modeling is based on experimental work performed for a Kuka and a Samsung robot. The influence of workspace location, posture and angular granularity ratio on the Cartesian granular space are then analysed.
引用
收藏
页码：4931 / 4936
页数：6
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