Evaluation of influence of target location on robot repeatability

Authors:
Raziel Riemer;Yael Edan
Affiliations:
Department of Industrial Engineering and Management, Ben-Gurion University of the Negev, Beer Sheva 84105 (Israel) yael@bgumail.bgu.ac.il;Department of Industrial Engineering and Management, Ben-Gurion University of the Negev, Beer Sheva 84105 (Israel)
Venue:
Robotica
Year:
2000

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Abstract

This paper evaluates the influence of target location on robot repeatability. An experiment was set up to analyze the effect of the three-dimensional target location on robot repeatability. An error-analysis model to determine repeatability based on the robot's kinematic model and known robot parameters was developed. Experimental results indicated that there was a significant statistical difference between repeatability at different locations in the workspace and that the height of the target point influenced repeatability. Experimental results tended to those derived from the error-analysis kinematic model. Hence, to determine the optimal target location, there is no need for extensive experimentation; instead, only a few target points can be sampled and compared to an error-analysis model.