Certain Methods of Determining the Ellipses an D Ellipsoids of the PositioningAccuracy of Robot Manipulators

摘要

It is important to know the size of the random deviations of the hand, endeffector, from the desired position when you analyze the positioning accuracy of robot manipulators. We propose two methods of determining the ellipses and ellipsoids of the probability concentration. One method consists of determining the polygon or polyhedron of the positioning accuracy, and then finding the ellipse or ellipsoid of the principal axes and the second order moments that coincide with those of the polygon or polyhedron respectively. In the second method, a computer generates random Gaussian deviations from the desired joint positions. The calculated positioning errors form elliptical or ellipsoidal patterns that demonstrate good agreement with the theoretically obtained ellipses or ellipsoids of the probability concentration.