Effects of Joint Clearance on the Motion Accuracy of Robotic Manipulators

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Izvoz citacije: ABNT
ERKAYA, Selcuk .
Effects of Joint Clearance on the Motion Accuracy of Robotic Manipulators. 
Strojniški vestnik - Journal of Mechanical Engineering, [S.l.], v. 64, n.2, p. 82-94, june 2018. 
ISSN 0039-2480.
Available at: <https://www.sv-jme.eu/sl/article/effects-of-joint-clearance-on-motion-accuracy-of-robotic-manipulators/>. Date accessed: 14 nov. 2019. 
doi:http://dx.doi.org/10.5545/sv-jme.2017.4534.
Erkaya, S.
(2018).
Effects of Joint Clearance on the Motion Accuracy of Robotic Manipulators.
Strojniški vestnik - Journal of Mechanical Engineering, 64(2), 82-94.
doi:http://dx.doi.org/10.5545/sv-jme.2017.4534
@article{sv-jmesv-jme.2017.4534,
	author = {Selcuk  Erkaya},
	title = {Effects of Joint Clearance on the Motion Accuracy of Robotic Manipulators},
	journal = {Strojniški vestnik - Journal of Mechanical Engineering},
	volume = {64},
	number = {2},
	year = {2018},
	keywords = {trajectory error, joint clearance, NARX model, 3D motion accuracy, uncertainty},
	abstract = {Accuracy is one of the key features that improves the quality of robotic manipulators for many industrial and medical applications. Even with an accurate design and manufacturing process, clearance problems in joints cannot be eliminated in articulated systems. This leads to a loss of accuracy in robotic manipul ation. In this study, the effects of joint clearance in a robotic system are investigated. The need for thetrajectory of end effector is considered to analyse the motion sensitivity. The kinematics and dynamics of a six-DOF robot with joint clearance are evaluated relative to a robot without joint clearance. Different scenarios for clearance values and working periods are performed to fulfil the required motion task. A neural model is also used to predict the trajectory deviations during the working process. The results show that clearance has a significant role in the motion sensitivity of robotic manipulations. Trajectory errors can also be determined by using a dynamic neural predictor with suitable input variables.},
	issn = {0039-2480},	pages = {82-94},	doi = {10.5545/sv-jme.2017.4534},
	url = {https://www.sv-jme.eu/sl/article/effects-of-joint-clearance-on-motion-accuracy-of-robotic-manipulators/}
}
Erkaya, S.
2018 June 64. Effects of Joint Clearance on the Motion Accuracy of Robotic Manipulators. Strojniški vestnik - Journal of Mechanical Engineering. [Online] 64:2
%A Erkaya, Selcuk 
%D 2018
%T Effects of Joint Clearance on the Motion Accuracy of Robotic Manipulators
%B 2018
%9 trajectory error, joint clearance, NARX model, 3D motion accuracy, uncertainty
%! Effects of Joint Clearance on the Motion Accuracy of Robotic Manipulators
%K trajectory error, joint clearance, NARX model, 3D motion accuracy, uncertainty
%X Accuracy is one of the key features that improves the quality of robotic manipulators for many industrial and medical applications. Even with an accurate design and manufacturing process, clearance problems in joints cannot be eliminated in articulated systems. This leads to a loss of accuracy in robotic manipul ation. In this study, the effects of joint clearance in a robotic system are investigated. The need for thetrajectory of end effector is considered to analyse the motion sensitivity. The kinematics and dynamics of a six-DOF robot with joint clearance are evaluated relative to a robot without joint clearance. Different scenarios for clearance values and working periods are performed to fulfil the required motion task. A neural model is also used to predict the trajectory deviations during the working process. The results show that clearance has a significant role in the motion sensitivity of robotic manipulations. Trajectory errors can also be determined by using a dynamic neural predictor with suitable input variables.
%U https://www.sv-jme.eu/sl/article/effects-of-joint-clearance-on-motion-accuracy-of-robotic-manipulators/
%0 Journal Article
%R 10.5545/sv-jme.2017.4534
%& 82
%P 13
%J Strojniški vestnik - Journal of Mechanical Engineering
%V 64
%N 2
%@ 0039-2480
%8 2018-06-26
%7 2018-06-26
Erkaya, Selcuk.
"Effects of Joint Clearance on the Motion Accuracy of Robotic Manipulators." Strojniški vestnik - Journal of Mechanical Engineering [Online], 64.2 (2018): 82-94. Web.  14 Nov. 2019
TY  - JOUR
AU  - Erkaya, Selcuk 
PY  - 2018
TI  - Effects of Joint Clearance on the Motion Accuracy of Robotic Manipulators
JF  - Strojniški vestnik - Journal of Mechanical Engineering
DO  - 10.5545/sv-jme.2017.4534
KW  - trajectory error, joint clearance, NARX model, 3D motion accuracy, uncertainty
N2  - Accuracy is one of the key features that improves the quality of robotic manipulators for many industrial and medical applications. Even with an accurate design and manufacturing process, clearance problems in joints cannot be eliminated in articulated systems. This leads to a loss of accuracy in robotic manipul ation. In this study, the effects of joint clearance in a robotic system are investigated. The need for thetrajectory of end effector is considered to analyse the motion sensitivity. The kinematics and dynamics of a six-DOF robot with joint clearance are evaluated relative to a robot without joint clearance. Different scenarios for clearance values and working periods are performed to fulfil the required motion task. A neural model is also used to predict the trajectory deviations during the working process. The results show that clearance has a significant role in the motion sensitivity of robotic manipulations. Trajectory errors can also be determined by using a dynamic neural predictor with suitable input variables.
UR  - https://www.sv-jme.eu/sl/article/effects-of-joint-clearance-on-motion-accuracy-of-robotic-manipulators/
@article{{sv-jme}{sv-jme.2017.4534},
	author = {Erkaya, S.},
	title = {Effects of Joint Clearance on the Motion Accuracy of Robotic Manipulators},
	journal = {Strojniški vestnik - Journal of Mechanical Engineering},
	volume = {64},
	number = {2},
	year = {2018},
	doi = {10.5545/sv-jme.2017.4534},
	url = {https://www.sv-jme.eu/sl/article/effects-of-joint-clearance-on-motion-accuracy-of-robotic-manipulators/}
}
TY  - JOUR
AU  - Erkaya, Selcuk 
PY  - 2018/06/26
TI  - Effects of Joint Clearance on the Motion Accuracy of Robotic Manipulators
JF  - Strojniški vestnik - Journal of Mechanical Engineering; Vol 64, No 2 (2018): Strojniški vestnik - Journal of Mechanical Engineering
DO  - 10.5545/sv-jme.2017.4534
KW  - trajectory error, joint clearance, NARX model, 3D motion accuracy, uncertainty
N2  - Accuracy is one of the key features that improves the quality of robotic manipulators for many industrial and medical applications. Even with an accurate design and manufacturing process, clearance problems in joints cannot be eliminated in articulated systems. This leads to a loss of accuracy in robotic manipul ation. In this study, the effects of joint clearance in a robotic system are investigated. The need for thetrajectory of end effector is considered to analyse the motion sensitivity. The kinematics and dynamics of a six-DOF robot with joint clearance are evaluated relative to a robot without joint clearance. Different scenarios for clearance values and working periods are performed to fulfil the required motion task. A neural model is also used to predict the trajectory deviations during the working process. The results show that clearance has a significant role in the motion sensitivity of robotic manipulations. Trajectory errors can also be determined by using a dynamic neural predictor with suitable input variables.
UR  - https://www.sv-jme.eu/sl/article/effects-of-joint-clearance-on-motion-accuracy-of-robotic-manipulators/
Erkaya, Selcuk"Effects of Joint Clearance on the Motion Accuracy of Robotic Manipulators" Strojniški vestnik - Journal of Mechanical Engineering [Online], Volume 64 Number 2 (26 June 2018)

Avtorji

Inštitucije

  • Erciyes University, Engineering Faculty, Mechatronics Engineering Department, Turkey 1

Informacije o papirju

Strojniški vestnik - Journal of Mechanical Engineering 64(2018)2, 82-94

https://doi.org/10.5545/sv-jme.2017.4534

Accuracy is one of the key features that improves the quality of robotic manipulators for many industrial and medical applications. Even with an accurate design and manufacturing process, clearance problems in joints cannot be eliminated in articulated systems. This leads to a loss of accuracy in robotic manipul ation. In this study, the effects of joint clearance in a robotic system are investigated. The need for thetrajectory of end effector is considered to analyse the motion sensitivity. The kinematics and dynamics of a six-DOF robot with joint clearance are evaluated relative to a robot without joint clearance. Different scenarios for clearance values and working periods are performed to fulfil the required motion task. A neural model is also used to predict the trajectory deviations during the working process. The results show that clearance has a significant role in the motion sensitivity of robotic manipulations. Trajectory errors can also be determined by using a dynamic neural predictor with suitable input variables.

trajectory error, joint clearance, NARX model, 3D motion accuracy, uncertainty