Micrometre Scale Performances of Industrial Robot Manipulators
Robot precision is usually characterized by repeatability and accuracy. In this paper, we show that these indices are not sufficient to describe robot behaviour at the micrometre scale. New, precision performances are discussed and the experimental procedure to estimate these indices is described. T...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2012-10-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.5772/51835 |
| _version_ | 1819169981813751808 |
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| author | Diala Dandash Jean-François Brethé Eric Vasselin Dimitri Lefebvre |
| author_facet | Diala Dandash Jean-François Brethé Eric Vasselin Dimitri Lefebvre |
| author_sort | Diala Dandash |
| collection | DOAJ |
| description | Robot precision is usually characterized by repeatability and accuracy. In this paper, we show that these indices are not sufficient to describe robot behaviour at the micrometre scale. New, precision performances are discussed and the experimental procedure to estimate these indices is described. The main results of the experimental work performed on Samsung Faraman and Epson Scara robots are displayed. Reversibility, hysteresis and spatial resolution have to be taken into account when the robot has to be controlled precisely at the micrometre scale. A granular control design including harmonization poses is proposed as a conclusion. |
| first_indexed | 2024-12-22T19:28:08Z |
| format | Article |
| id | doaj.art-97b3c62208b8437f8e02addc3072e6bc |
| institution | Directory Open Access Journal |
| issn | 1729-8814 |
| language | English |
| last_indexed | 2024-12-22T19:28:08Z |
| publishDate | 2012-10-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | International Journal of Advanced Robotic Systems |
| spelling | doaj.art-97b3c62208b8437f8e02addc3072e6bc2022-12-21T18:15:10ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142012-10-01910.5772/5183510.5772_51835Micrometre Scale Performances of Industrial Robot ManipulatorsDiala Dandash0Jean-François Brethé1Eric Vasselin2Dimitri Lefebvre3 GREAH, LE HAVRE University, France GREAH, LE HAVRE University, France GREAH, LE HAVRE University, France GREAH, LE HAVRE University, FranceRobot precision is usually characterized by repeatability and accuracy. In this paper, we show that these indices are not sufficient to describe robot behaviour at the micrometre scale. New, precision performances are discussed and the experimental procedure to estimate these indices is described. The main results of the experimental work performed on Samsung Faraman and Epson Scara robots are displayed. Reversibility, hysteresis and spatial resolution have to be taken into account when the robot has to be controlled precisely at the micrometre scale. A granular control design including harmonization poses is proposed as a conclusion.https://doi.org/10.5772/51835 |
| spellingShingle | Diala Dandash Jean-François Brethé Eric Vasselin Dimitri Lefebvre Micrometre Scale Performances of Industrial Robot Manipulators International Journal of Advanced Robotic Systems |
| title | Micrometre Scale Performances of Industrial Robot Manipulators |
| title_full | Micrometre Scale Performances of Industrial Robot Manipulators |
| title_fullStr | Micrometre Scale Performances of Industrial Robot Manipulators |
| title_full_unstemmed | Micrometre Scale Performances of Industrial Robot Manipulators |
| title_short | Micrometre Scale Performances of Industrial Robot Manipulators |
| title_sort | micrometre scale performances of industrial robot manipulators |
| url | https://doi.org/10.5772/51835 |
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