Application of Joint Error Maximal Mutual Compensation to hexapod robots

Yauheni Veryha, Henrik Gordon Petersen

Research output: Contribution to journalJournal articleResearchpeer-review

Abstract

A good practice to ensure high-positioning accuracy in industrial robots is to use joint error maximum mutual compensation (JEMMC). This paper presents an application of JEMMC for positioning of hexapod robots to improve end-effector positioning accuracy. We developed an algorithm and simulation framework in MatLab to find optimal hexapod configurations with JEMMC. Based on a real hexapod model, simulation results of the proposed approach are presented. Optimal hexapod configurations were found using the local minimum of the infinity norm of hexapod Jacobian inverse. JEMMC usage in hexapod robots can improve hexapod end-effector positioning accuracy by two times and more.
Udgivelsesdato: jan-feb
Original languageEnglish
JournalRobotica
Volume26
Issue number1
Pages (from-to)63-73
ISSN0263-5747
Publication statusPublished - 1. Jan 2008

Keywords

  • Hexapod; Robot calibration; Positioning accuracy; Joint error maximum mutual compensation; Worst-case error

Cite this

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title = "Application of Joint Error Maximal Mutual Compensation to hexapod robots",
abstract = "A good practice to ensure high-positioning accuracy in industrial robots is to use joint error maximum mutual compensation (JEMMC). This paper presents an application of JEMMC for positioning of hexapod robots to improve end-effector positioning accuracy. We developed an algorithm and simulation framework in MatLab to find optimal hexapod configurations with JEMMC. Based on a real hexapod model, simulation results of the proposed approach are presented. Optimal hexapod configurations were found using the local minimum of the infinity norm of hexapod Jacobian inverse. JEMMC usage in hexapod robots can improve hexapod end-effector positioning accuracy by two times and more. Udgivelsesdato: jan-feb",
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Application of Joint Error Maximal Mutual Compensation to hexapod robots. / Veryha, Yauheni; Petersen, Henrik Gordon.

In: Robotica, Vol. 26, No. 1, 01.01.2008, p. 63-73.

Research output: Contribution to journalJournal articleResearchpeer-review

TY - JOUR

T1 - Application of Joint Error Maximal Mutual Compensation to hexapod robots

AU - Veryha, Yauheni

AU - Petersen, Henrik Gordon

PY - 2008/1/1

Y1 - 2008/1/1

N2 - A good practice to ensure high-positioning accuracy in industrial robots is to use joint error maximum mutual compensation (JEMMC). This paper presents an application of JEMMC for positioning of hexapod robots to improve end-effector positioning accuracy. We developed an algorithm and simulation framework in MatLab to find optimal hexapod configurations with JEMMC. Based on a real hexapod model, simulation results of the proposed approach are presented. Optimal hexapod configurations were found using the local minimum of the infinity norm of hexapod Jacobian inverse. JEMMC usage in hexapod robots can improve hexapod end-effector positioning accuracy by two times and more. Udgivelsesdato: jan-feb

AB - A good practice to ensure high-positioning accuracy in industrial robots is to use joint error maximum mutual compensation (JEMMC). This paper presents an application of JEMMC for positioning of hexapod robots to improve end-effector positioning accuracy. We developed an algorithm and simulation framework in MatLab to find optimal hexapod configurations with JEMMC. Based on a real hexapod model, simulation results of the proposed approach are presented. Optimal hexapod configurations were found using the local minimum of the infinity norm of hexapod Jacobian inverse. JEMMC usage in hexapod robots can improve hexapod end-effector positioning accuracy by two times and more. Udgivelsesdato: jan-feb

KW - Hexapod; Robot calibration; Positioning accuracy; Joint error maximum mutual compensation; Worst-case error

M3 - Journal article

VL - 26

SP - 63

EP - 73

JO - Robotica

JF - Robotica

SN - 0263-5747

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