Modelling of repeatability phenomena using the stochastic ellipsoid approach

A stochastic ellipsoid modelling of repeatability is proposed for industrial manipulator robots. The covariance matrix of angular position is determined introducing the jump process, which reveals to be a first and second order stationary Gaussian process. From this accurate covariance matrix, the s...

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Bibliographic Details
Published in:Robotica 2006-07, Vol.24 (4), p.477-490
Main Authors: Brethé, Jean-François, Vasselin, Eric, Lefebvre, Dimitri, Dakyo, Brayima
Format: Article
Language:English
Subjects:
Industrial robots
Repeatability modelling
Stochastic ellipsoid
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Summary:A stochastic ellipsoid modelling of repeatability is proposed for industrial manipulator robots. The covariance matrix of angular position is determined introducing the jump process, which reveals to be a first and second order stationary Gaussian process. From this accurate covariance matrix, the stochastic ellipsoid theory gives the density of position in the workspace around the mean position. Hence the pose repeatability index can be computed in different locations. Computed and experimental repeatability are compared. Experimental repeatability variability is studied. A new “intrinsic repeatability index” is proposed. In conclusion, the modelling reflects well the location and load influence on the repeatability.
ISSN:0263-5747
1469-8668
DOI:10.1017/S0263574705002481