Error Modeling and Accuracy of TAU Robot

Abstract

It can be observed from the results, that Jacobian Matrix is effective with an accuracy up to 1.53 um with an input error of 1 mm (Link 1 of lower arm 1). This was verified using ADAMS simulation results. Results from N-R method match very well with ADAMS simulation with a difference of only 0.06 um. Based on the D-H model and an accurate Jacobian matrix, a series of results have been presented including error analysis, forward kinematic, redundant variable determination, error budget, and Jacobian approximation method. The Jacobian approximation method can be used in on-line control of the robot. For the TAU robot, a closed form solution of a forward kinematic problem is reached with a high accuracy instead of N-R numerical solution. The simulation results are almost perfect compared with that from ADAMS.