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Errors in Reproducing Programmed Tool Trajectories in Mechatronic Manipulators

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Abstract

Methods are considered for analysis of the kinematic and dynamic errors in reproducing programmed tool trajectories in mechatronic manipulators with control loops.

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REFERENCES

  1. Nikiforov, S.O. and Markhadaev, B.E., Precise models of industrial robots, Vestn. Mashinostr., 1989, no. 6, pp. 22–25.

  2. Markhadaev, B.E., Nikiforov, S.O., Nikiforov, B.S., and Ulakhanov, N.S., Assessment and analysis of the accuracy characteristics of mechatronic manipulators by kinematic models, Vestn. Buryat. Gos. Univ., Matem., Inf., 2016, no. 4, pp. 50–61.

  3. Annabi, M.Kh. and Chelpanov, I.B., Priblizhennyi metod issledovaniya pogreshnostei otrabotki traektorii promyshlennymi robotami (Approximate Analysis of Movement Trajectory Errors by Industrial Robots), St. Petersburg: S.-Peterb. Politekh. Univ., 2003.

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Authors and Affiliations

  1. Institute of Materials Physics, Siberian Branch, Russian Academy of Sciences, Ulan-Ude, Russia

    S. O. Nikiforov & B. E. Markhadaev

  2. AO TsNII Elektropribor, St. Petersburg, Russia

    I. B. Chelpanov

Authors
  1. S. O. Nikiforov
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  2. B. E. Markhadaev
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  3. I. B. Chelpanov
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Corresponding author

Correspondence to B. E. Markhadaev.

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Translated by Bernard Gilbert

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Cite this article

Nikiforov, S.O., Markhadaev, B.E. & Chelpanov, I.B. Errors in Reproducing Programmed Tool Trajectories in Mechatronic Manipulators. Russ. Engin. Res. 39, 537–540 (2019). https://doi.org/10.3103/S1068798X19070141

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  • DOI: https://doi.org/10.3103/S1068798X19070141

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