The sensitivities of industrial robot manipulators to errors of motion modelsʹ parameters

In this paper it is focused on sensitivity analyses of position and orientation coordinates of manipulator gripper to errors of kinematicsʹ parameters. Also it is focused on sensitivity analyses of mass forces to errors of dynamicsʹ parameters. In these models the transform graphs are used. These graphs were presented by the author of this paper in The First Int. Conf. Graphs & Mechanics. Practical methods of kinematicsʹ calibration make use of the linear differential error of the kinematicsʹ model. This model is based on the Jacobian of the direct kinematicsʹ model with respect to parameters of this model. These methods use the theory of minimum-square identification of kinematicsʹ parameters too. Practical methods of dynamicsʹ calibration make use of the dynamics models, which are in a linear form in relation to dynamicsʹ parameters. These methods use the theory of minimum-square identification of dynamicsʹ parameters. Measurements are one of the steps of calibration. These measurements should be carried out in the manipulatorʹs states in which the errors of kinematicsʹ parameters cause the largest errors of the gripperʹs positioning or errors of dynamicsʹ parameters cause the largest errors of the mass forces. These states are named as the most sensitive to errors of kinematicsʹ parameters or as the most sensitive to errors of dynamicsʹ parameters. In this paper measures of sensitivity of the gripperʹs positioning to errors of kinematicsʹ parameters, and measures of sensitivity of the mass forces to errors of dynamicsʹ parameters are proposed. The example for the calculation of sensitivity of the gripperʹs positioning for IRb-6 manipulator is presented too.