THE KINEMATIC SENSITIVITY OF ROBOTIC MANIPULATORS TO JOINT CLEARANCES

被引：0

作者：

Binaud, Nicolas ^{[1
]}

Cardou, Philippe

Caro, Stephane ^{[1
]}

Wenger, Philippe ^{[1
]}

机构：

[1] Inst Rech Commun & Cybernet Nantes, UMR 6597, CNRS, F-44321 Nantes, France

来源：

PROCEEDINGS OF THE ASME INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE 2010, VOL 2, PTS A AND B | 2010年

关键词：

POSITION;

D O I：

暂无

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

The paper deals with the kinematic sensitivity of robotic manipulators to joint clearances. First, an error prediction model applicable to both serial and parallel manipulators is developed. A clearance model associated with axisymmetrical joints, which are widely used in robotic manipulators, is also proposed. Then, two nonconvex quadratically constrained quadratic programs (QCQPs) are formulated in order to find the maximum reference-point position error and the maximum orientation error of the moving-platform for given joint clearances. Finally, the contributions of the paper are highlighted by means of two illustrative examples.

引用

页码：1371 / 1380

页数：10

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