Title :
Granular Space Structure on a Micrometric Scale for Industrial Robots
Author :
Brethé, Jean-François ; Lefebvre, Dimitri
Author_Institution :
GREAH, Le Havre Univ.
Abstract :
We study the statistical relationship between angular position and target for industrial robots on a micrometric scale and this leads us to understand the angular position stochastic structure. The concept of granular angular space is introduced and transposed in the Cartesian space. Modeling is based on experimental work performed for a Kuka and a Samsung robot. The influence of workspace location, posture and angular granularity ratio on the Cartesian granular space are then analysed.
Keywords :
industrial robots; microrobots; statistical analysis; stochastic processes; Cartesian space; Kuka robot; Samsung robot; angular granularity; angular position stochastic structure; industrial robots; micrometric scale granular space structure; statistical relationship; workspace location; Aerospace industry; Covariance matrix; Ellipsoids; Equations; Industrial relations; Orbital robotics; Robot kinematics; Robotics and automation; Service robots; Stochastic processes;
Conference_Titel :
Robotics and Automation, 2007 IEEE International Conference on
Conference_Location :
Roma
Print_ISBN :
1-4244-0601-3
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2007.364239
