Dynamic analysis of an n-revolute planar serial manipulator and sensitivity analysis based on Sobol's method

Mehrafrooz, Behzad; Mohammadi, Mohsen; Masouleh, Mehdi Tale

doi:10.1109/icrom.2015.7367846

Cited by 5 publications

(2 citation statements)

References 14 publications

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“…Pott et al (2007) proposed a sensitivity analysis method based on simplified vectors and the practicability of this method was verified by examples of serial and fully parallel manipulators. Using Sobol method, Mehrafrooz et al (2015) established the dynamic sensitivity analysis scheme of the robot. Based on the inverse kinematics analysis of the predetermined trajectory of the robot end effector, the joint coordinates, angular velocity and angular acceleration in a given period were established.…”

Section: Introductionmentioning

confidence: 99%

Study of error compensations and sensitivity analysis for 6-Dof serial robot

Luo

Zhang

2020

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Purpose The purpose of this paper is to improve the positioning accuracy of 6-Dof serial robot by the way of error compensation and sensitivity analysis. Design/methodology/approach In this paper, the Denavit–Hartenberg matrix is used to construct the kinematics models of the robot; the effects from individual joint and several joints on the end effector are estimated by simulation. Then, an error model based on joint clearance is proposed so that the positioning accuracy at any position of joints can be predicted for compensation. Through the simulation of the curve path, the validity of the error compensation model is verified. Finally, the experimental results show that the error compensation method can improve the positioning accuracy of a two joint exoskeleton robot by nearly 76.46%. Findings Through the analysis of joint error sensitivity, it is found that the first three joints, especially joint 2, contribute a lot to the positioning accuracy of the robot, which provides guidance for the accuracy allocation of the robot. In addition, this paper creatively puts forward the error model based on joint clearance, and the error compensation method which decouples the positioning accuracy into joint errors. Originality/value It provides a new idea for error modeling and error compensation of 6-Dof serial robot. Combining sensitivity analysis results with error compensation can effectively improve the positioning accuracy of the robot, and provide convenience for welding robot and other robots that need high positioning accuracy.

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Section: Introductionmentioning

confidence: 99%

Study of error compensations and sensitivity analysis for 6-Dof serial robot

Luo

Zhang

2020

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“…Sobol's method [30] and Extended Fourier Amplitude Sensitivity Testing (EFAST) method [29] are statistical SA methods which exploit semistochastic data generation to evaluate function sensitivity. Many applications of these methods have been reported, among those which is applied in robotic field is as follows: Sensitivity of delivering torques to joint coordinates, angular velocities and angular accelerations was investigated by using of Sobol's method [19]. More precisely, in the latter reference, the sensitivity of delivering torques to joint coordinates, angular velocities and angular accelerations are analyzed.…”

Section: Introductionmentioning

confidence: 99%

A statistical weighted method for kinematic sensitivity analysis of parallel robots

Mehrafrooz

Mohammadi

Masouleh

2018

J Braz. Soc. Mech. Sci. Eng.

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Many efforts have been devoted to propose effective methods and indices of kinematic sensitivity, but all of them have considered equal proportion of errors in the actuated joint coordinates and generally entail several drawbacks. Therefore, all of previous studies conducted in the literature ignored the difference in sensitivity of manipulator to the active joints uncertainties. Solving this issue requires a deep understanding of mathematical modeling of kinematic sensitivity and its interpretations. In this paper, a synergy between kinematic concepts and statistics approaches is employed in order to propose a more reasonable index for the kinematic performance measurement of the robotic mechanical systems, with a more emphasis on parallel mechanisms.To this end, from kinematic stand point, the kinematic sensitivity is adopted as kinematic index performance. In turn, the so-called Sobol's method is used as the statistics framework of this paper. To do so, first, weighted kinematic sensitivity is introduced and its mathematical formulation is presented. Then, the application of the proposed method is illustrated by implementing the proposed method on two case studies, namely 3-RPR and 6-DOF Gough-Stewart parallel robots. Weighted kinematic sensitivity is calculated over the robot workspace, and consequently, weighted kinematic sensitivity and conventional methods and indices are compared. From the obtained results, it can be inferred that conventional methods predict sensitivity more conservative and the proposed method is more realistic and closer to the reality.

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Modeling of the trajectory-generating equipments

Ratiu

Rus

2017

2017 14th International Conference on Engineering of Modern Electric Systems (EMES)

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Dynamic analysis of an n-revolute planar serial manipulator and sensitivity analysis based on Sobol's method

Cited by 5 publications

References 14 publications

Study of error compensations and sensitivity analysis for 6-Dof serial robot

Study of error compensations and sensitivity analysis for 6-Dof serial robot

A statistical weighted method for kinematic sensitivity analysis of parallel robots

Modeling of the trajectory-generating equipments

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