Analysis and compensation of positioning errors of robotic systems by an interactive method

In this work, we study the parameters influencing the positioning and rotation accuracy of industrial robot manipulators. From the Denavit-Hartenberg model (standard or modified DH) and the generalized transformation matrix, position and rotation is carried out in the general case and then applied to the Puma 560 robot. To illustrate this work, a program is developed using the symbolic calculation tools of this language was developed for the calculation of the robot's precision for given absolute uncertainties. Calculate errors positions in each case. Once the error values have been calculated and compared with other authors, we use these results to determine the influence of each parameter on the errors positions, and to see which is the most influential and secondly proposed a model that represents the analytical part of this method and gives a confidence interval of each parameter.

Automated summary

In this work, we investigated the factors affecting the accuracy of positioning and rotation in industrial robot manipulators. We used the Denavit-Hartenberg model and the generalized transformation matrix to perform position and rotation calculations in different scenarios, particularly applied to the Puma 560 robot. To demonstrate our findings, we developed a program using symbolic calculation tools to determine the precision of the robot under given absolute uncertainties and calculated the positional errors in each case. By comparing our results with those of other authors, we identified the most influential parameter and proposed an analytical model that represents the methodology while providing confidence intervals for each parameter.