Positional Error Estimation in Serial Link Manipulator Under Joint Clearances and Backlash

Jawale, H. P.; Thorat, H. T.

doi:10.1115/1.4023556

Cited by 22 publications

(19 citation statements)

References 20 publications

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“…By optimizing the design parameters of the mechanism, the transmission angle error decreases by 8.44% 。 An optimization procedure was then implemented to obtain the design parameters that ensured a minimum position error. In turn, Jawale and Thorat [452] utilized a serial chain two revolute joint planar manipulator to study the position error of the end effector in workspace, where the clearance influence was taken as a major factor. The authors showed that the maximum error in the end effector position could be effectively predicted when clearances were considered in the analysis.…”

Section: Optimization and Control Of Mechanisms With Clearance Jointsmentioning

confidence: 99%

A comprehensive survey of the analytical, numerical and experimental methodologies for dynamics of multibody mechanical systems with clearance or imperfect joints

Tian

Flores

Lankarani

2018

Mechanism and Machine Theory

305

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A comprehensive survey of the literature of the most relevant analytical, numerical, and experimental approaches for the kinematic and dynamic analyses of multibody mechanical systems with clearance joints is presented in this review. Both dry and lubricated clearance joints are addressed here, and an effort is made to include a large number of research works in this particular field, which have been published since the 1960's. First, the most frequently utilized methods for modeling planar and spatial multibody mechanical systems with clearance joints are analyzed, and compared. Other important phenomena commonly associated with clearance joint models, such as wear, non-smooth behavior, optimization and control, chaos, and uncertainty and links' flexibility, are then discussed. The main assumptions procedures and conclusions for the different methodologies are also examined and compared. Finally, future developments and new applications of clearance joint modeling and analysis are highlighted.

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Section: Optimization and Control Of Mechanisms With Clearance Jointsmentioning

confidence: 99%

A comprehensive survey of the analytical, numerical and experimental methodologies for dynamics of multibody mechanical systems with clearance or imperfect joints

Tian

Flores

Lankarani

2018

Mechanism and Machine Theory

305

View full text Add to dashboard Cite

show abstract

“…A serial chain two-revolute joint planar manipulator was modelled. Under the influence of the joint clearance, a formulation was presented to analyse the positional accuracy of the end effector [17]. A spherical parallel manipulator with clearance and manufacturing error was analysed to determine the pose error of the platform in the presence of these imperfections [18].…”

Section: • Clearance In a Joint Is Inevitable And Worsens The System mentioning

confidence: 99%

Effects of Joint Clearance on the Motion Accuracy of Robotic Manipulators

2018

SV-JME

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Accuracy is one of the key features that improves the quality of robotic manipulators for many industrial and medical applications. Even with an accurate design and manufacturing process, clearance problems in joints cannot be eliminated in articulated systems. This leads to a loss of accuracy in robotic manipulation. In this study, the effects of joint clearance in a robotic system are investigated. The need for the trajectory of end effector is considered to analyse the motion sensitivity. The kinematics and dynamics of a six-DOF robot with joint clearance are evaluated relative to a robot without joint clearance. Different scenarios for clearance values and working periods are performed to fulfil the required motion task. A neural model is also used to predict the trajectory deviations during the working process. The results show that clearance has a significant role in the motion sensitivity of robotic manipulations. Trajectory errors can also be determined by using a dynamic neural predictor with suitable input variables.

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“…The model of motion reliability should take the contribution of factors to position accuracy into account. Actually, factors related to position accuracy are various, such as clearance [17], friction [18], and wear [19]. Many of them are unobservable and uncontrollable and even have coupling relationship between each other, which makes it difficult to establish a model including all factors.…”

Section: Mathematical Problems In Engineeringmentioning

confidence: 99%

“…In summary, combining (17) with (2) and (4), the motion reliability models for point-to-point path planning and continuous trajectory tracking can be obtained, respectively. The motion reliability model for point-point path planning is expressed as…”

Section: Motion Reliability Models Of Path Planning Taskmentioning

confidence: 99%

Motion Reliability Modeling and Evaluation for Manipulator Path Planning Task

Jia

Chen

2015

Mathematical Problems in Engineering

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Motion reliability as a criterion can reflect the accuracy of manipulator in completing operations. Since path planning task takes a significant role in operations of manipulator, the motion reliability evaluation of path planning task is discussed in the paper. First, a modeling method for motion reliability is proposed by taking factors related to position accuracy of manipulator into account. In the model, multidimensional integral for PDF is carried out to calculate motion reliability. Considering the complex of multidimensional integral, the approach of equivalent extreme value is introduced, with which multidimensional integral is converted into one dimensional integral for convenient calculation. Then a method based on the maximum entropy principle is proposed for model calculation. With the method, the PDF can be obtained efficiently at the state of maximum entropy. As a result, the evaluation of motion reliability can be achieved by one dimensional integral for PDF. Simulations on a particular path planning task are carried out, with which the feasibility and effectiveness of the proposed methods are verified. In addition, the modeling method which takes the factors related to position accuracy into account can represent the contributions of these factors to motion reliability. And the model calculation method can achieve motion reliability evaluation with high precision and efficiency.

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Positional Error Estimation in Serial Link Manipulator Under Joint Clearances and Backlash

Cited by 22 publications

References 20 publications

A comprehensive survey of the analytical, numerical and experimental methodologies for dynamics of multibody mechanical systems with clearance or imperfect joints

A comprehensive survey of the analytical, numerical and experimental methodologies for dynamics of multibody mechanical systems with clearance or imperfect joints

Effects of Joint Clearance on the Motion Accuracy of Robotic Manipulators

Motion Reliability Modeling and Evaluation for Manipulator Path Planning Task

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