Position Error Sensitivity Analysis for Polishing Robot

摘要

t is the goal of this paper to describe an error analysis methodology for polishing robot on a manufacturing floor. With the generalized errors considered in the model, the end-effector position and orientation errors are calculated as a function of the generalized error. The analysis is to determine which physical errors significantly influence the end-effector error. The method and computer program have been applied to the performance evaluation of a robotic manipulator to be used in a polishing robot. This methodology can be applied to estimate calibration error and give the severity value to help the designer to select the polishing robot parameters.