Title :
A software-based procedure for robotic end effector error correction
Author :
Moussa, Medhat ; Hill, Martin ; Fernandes, James ; Karray, Fakhri
Author_Institution :
Dept. of Syst. Design Eng., Waterloo Univ., Ont., Canada
Abstract :
Presents a procedure for modeling and eliminating an end effector configuration error as a result of a faulty joint or a damaged link. This procedure provides an inexpensive software alternative to hardware replacement. A neural network model was developed and tested an a 6 DOF PUMA robot. The network approximates the error based on data obtained through observing the robot while executing a set of MOVE commands. The results show that, regardless of the error source, the robot´s accuracy could be highly improved even when a small number of data points are used
Keywords :
manipulator kinematics; neural nets; position control; 6 DOF PUMA robot; MOVE commands; damaged link; faulty joint; neural network model; robot accuracy; robotic end effector error correction; software-based procedure; Computer errors; End effectors; Error correction; Hardware; Medical robotics; Neural networks; Orbital robotics; Robot kinematics; Service robots; Testing;
Conference_Titel :
Intelligent Robots and Systems, 1998. Proceedings., 1998 IEEE/RSJ International Conference on
Conference_Location :
Victoria, BC
Print_ISBN :
0-7803-4465-0
DOI :
10.1109/IROS.1998.727458
