Optimization of Operation Location Based on Positioning Errors for Robotic Manipulators

• Main Authors: Fu-Hua Chang, 張富華
• Other Authors: Chih-Ching Lo
• Format: Others
• Language: zh-TW
• Published: 2004
• Online Access: http://ndltd.ncl.edu.tw/handle/42765442072728056619

碩士 === 逢甲大學 === 機械工程學所 === 92 === Robotic manipulators are widely utilized in today’s automatic manufacturing processes; the consideration of the position error is very essential. In this paper, we first establish an error model that can describe the distribution of the positioning error in the workspace. Then, we can to use as the center of the task plate to deduce the range that can be manufactured. Afterward, according to such an error model, apply the SQP theory to develop the useful algorithms of optimization. At last by means the computer-aided analysis to find the optimal operation location. By the outcome, various manufacture methods that optimization position is not the same. Therefore, have got to establish various error models to estimation the position of the minimum error.