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Monte-Carlo Simulation and measuring for Error Analysis of 3-axis SCARA Robot using Observability  

Ju, Ji-Hun (창원대학교 기계설계공학과)
Chung, Won-Jee (창원대학교 기계설계공학과)
Kim, Jung-Hyun (창원대 기계설계공학과)
Publication Information
Transactions of the Korean Society of Machine Tool Engineers / v.17, no.4, 2008 , pp. 8-14 More about this Journal
Abstract
This paper aims at finding out dominant robot configurations with maximal position errors, which can be attributed to the parameter errors, by using Monte-Carlo simulation for error analysis of a 3-axis SCARA(Selective Compliance Assembly Robot Arm) type robot. In particular, the Monte-Carlo simulation is used for virtually measuring on the position errors, instead of physical measurement. In order to measure the observability of the model parameters with respect to a set of robot configurations, we propose the observability index which is defined as the product of singular values for error propagation matrices. Thus the index can be used for discriminating dominant robot configurations from a set of simulated ones in conjunction with standard deviation of positional errors, This paper analyzed error by robot positional error.
Keywords
Monte-Carlo Simulation; Observability Index; Repeatability; Dominant Robot Configurations; 3-Axes Robot Manipulator;
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