Abstract
In order to analyze the errors of structure parameters for serial robot, an error analysis model was established by defining error twists on each joint based on screw theory. Then, a serial robot's random error analyzing method combined Monte Carlo method and screw theory was further presented which could be used in analyzing error probabilistic characteristics of the end effector of robot. Using Cartesian assembly robot as an example, the simulation experiment was finished in the platform of Matlab software, and the random error distribution of the end effector of Cartesian assembly robot in its workspace was drawn. The results show that the presented modeling method is intuitive and correct, and the resulting error probabilistic characteristics are a great help for improving the calibration precision and selecting the optimal working space.
| Original language | English |
|---|---|
| Pages (from-to) | 892-896 |
| Number of pages | 5 |
| Journal | Beijing Ligong Daxue Xuebao/Transaction of Beijing Institute of Technology |
| Volume | 34 |
| Issue number | 9 |
| Publication status | Published - 1 Sept 2014 |
Keywords
- Monte Carlo method
- Random error
- Screw theory
- Serial robot