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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Mooring, B. Pack, T. |
| Copyright Year | 1986 |
| Description | Author affiliation: Texas A&M University College Station, Texas (Mooring, B.) |
| Abstract | One of the most important specifications associated with a robot manipulator is repeatability. Unfortunately, there are no standard procedures for determining or specifying the repeatability of a robot. This situation has resulted in a good deal of confusion when attempting to use a published repeatability specification to determine if a robot will meet the requirements of an application. The purpose of this paper, therefore, is to propose a systematic procedure for the determination and specification of robot repeatability. To accomplish this, three aspects of repeatability analysis are examined. First, a method of collecting data to study repeatability is discussed. A data acquisition system is described as well as an associated test procedure. Next, a procedure for utilizing the acquired data to develop a repeatability specification for a robot is proposed. This procedure results in a specification of the robot's ability to orient objects as well as the classical specification for positioning repeatability. A methodical approach to determining where in the workspace the repeatability test should be made is also addressed. Finally, an approach is presented whereby the data collected during the repeatability test may be used to determine which joints contribute most to the variations in robot repeatability. |
| Starting Page | 1017 |
| Ending Page | 1023 |
| File Size | 642234 |
| Page Count | 7 |
| File Format | |
| DOI | 10.1109/ROBOT.1986.1087508 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 1986-04-01 |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Robots Manipulators Wrist Data acquisition Mechanical engineering System testing Costs Manufacturing systems Packaging End effectors |
| Content Type | Text |
| Resource Type | Article |
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