Modelling of repeatability phenomena using the stochastic ellipsoid approach

  • Authors:

  • Jean-François Brethé;Eric Vasselin;Dimitri Lefebvre;Brayima Dakyo

  • Affiliations:

  • Groupe de Recherche en Electrotechnique et Automatique du Havre (GREAH) UFR Sciences et Techniques, Université du Havre, BP540, 76058 Le Havre (France);Groupe de Recherche en Electrotechnique et Automatique du Havre (GREAH) UFR Sciences et Techniques, Université du Havre, BP540, 76058 Le Havre (France);Groupe de Recherche en Electrotechnique et Automatique du Havre (GREAH) UFR Sciences et Techniques, Université du Havre, BP540, 76058 Le Havre (France);Groupe de Recherche en Electrotechnique et Automatique du Havre (GREAH) UFR Sciences et Techniques, Université du Havre, BP540, 76058 Le Havre (France)

  • Venue:
  • Robotica
  • Year:
  • 2006

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Abstract

A stochastic ellipsoid modelling of repeatability is proposed for industrial manipulator robots. The covariance matrix of angular position is determined introducing the jump process, which reveals to be a first and second order stationary Gaussian process.From this accurate covariance matrix, the stochastic ellipsoid theory gives the density of position in the workspace around the mean position. Hence the pose repeatability index can be computed in different locations. Computed and experimental repeatability are compared. Experimental repeatability variability is studied. A new “intrinsic repeatability index” is proposed. In conclusion, the modelling reflects well the location and load influence on the repeatability.