Robot positioning error analysis and correction

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dc.contributor.authorTang, Stanley C.en
dc.contributor.departmentIndustrial Engineering and Operations Researchen
dc.date.accessioned2014-03-14T21:33:35Zen
dc.date.adate2010-04-12en
dc.date.available2014-03-14T21:33:35Zen
dc.date.issued1987en
dc.date.rdate2010-04-12en
dc.date.sdate2010-04-12en
dc.description.abstractThe applicability and productivity of industrial robots have been limited partly because of positioning errors. In this thesis, two causes of positioning errors are identified: link deflection and gear transmission errors. Positioning errors due to the effect of link deflection and gear transmission errors are discussed and an iterative scheme is introduced to compute the deflected end-effector position. Validity of the scheme is verified by using Castigliano’s method on the same two-link hypothetical robot. Numerical integration of the integral equations of deflections is compared with analytical integration A correction method is then proposed and an error corrector is constructed. Effectiveness of the error corrector is demonstrated with a hypothetical RRRS robot, a 3-link robot with revolute joints and a spherical hand.en
dc.description.degreeMaster of Scienceen
dc.format.extentviii, 130 leavesen
dc.format.mediumBTDen
dc.format.mimetypeapplication/pdfen
dc.identifier.otheretd-04122010-083623en
dc.identifier.sourceurlhttp://scholar.lib.vt.edu/theses/available/etd-04122010-083623/en
dc.identifier.urihttp://hdl.handle.net/10919/42036en
dc.publisherVirginia Techen
dc.relation.haspartLD5655.V855_1987.T363.pdfen
dc.relation.isformatofOCLC# 16837285en
dc.rightsIn Copyrighten
dc.rights.urihttp://rightsstatements.org/vocab/InC/1.0/en
dc.subject.lccLD5655.V855 1987.T363en
dc.subject.lcshRoboticsen
dc.subject.lcshRobots -- Programmingen
dc.subject.lcshRobots, Industrialen
dc.titleRobot positioning error analysis and correctionen
dc.typeThesisen
dc.type.dcmitypeTexten
thesis.degree.disciplineIndustrial Engineering and Operations Researchen
thesis.degree.grantorVirginia Polytechnic Institute and State Universityen
thesis.degree.levelmastersen
thesis.degree.nameMaster of Scienceen

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