Volume 39 Issue 3
Mar.  2013
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Qi Lizhe, Chen Lei, Wang Wei, et al. Sensitivity analysis of the factors affecting robot closed-chain positioning error[J]. Journal of Beijing University of Aeronautics and Astronautics, 2013, 39(3): 406-410. (in Chinese)
Citation: Qi Lizhe, Chen Lei, Wang Wei, et al. Sensitivity analysis of the factors affecting robot closed-chain positioning error[J]. Journal of Beijing University of Aeronautics and Astronautics, 2013, 39(3): 406-410. (in Chinese)

Sensitivity analysis of the factors affecting robot closed-chain positioning error

  • Received Date: 13 Mar 2012
  • Publish Date: 31 Mar 2013
  • Aiming at the problem that is difficult to calibrate the robot positioning error accurately as many affecting factors, the closed-chain mathematical model for robot's positioning error was established based on Jacobian matrix firstly. Secondly, the formulas of single factor differential positioning error (SFDPE) and relative single factor differential positioning error (RSFDPE) were given to analyze the single point sensitivity (SPS) of each factor. Next, the sampling space of robot was designed by the orthogonal experiment design method which can fully reflect the robot position error distribution and then the formulas of the single factor comprehensive differential positioning error (SFCDPE) and relative single factor comprehensive differential positioning error (RSFCDPE) was depicted based on the interval probability density. Finally these factors' single point sensitivity and more points comprehensive sensitivity (MPCS) were simulated. This is a foundation work for robot positioning error calibration further.

     

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