Study and Experiment on Positioning Error of SCARA Robot Caused by Joint Clearance

2017 ◽  
pp. 147-156
Author(s):  
Changyu Xu ◽  
Huimin Dong ◽  
Shangkun Xu ◽  
Yu Wu ◽  
Chenggang Wang
Keyword(s):  
Joint Clearance ◽  
Positioning Error ◽  
Scara Robot

An Online Calibration Method for Manipulator with Joint Clearance

ROBOT ◽  
2013 ◽  
Vol 35 (5) ◽  
pp. 521
Author(s):  
Feng WANG ◽  
Kai CHEN ◽  
Xiaoping CHEN
Keyword(s):  
Calibration Method ◽  
Joint Clearance ◽  
Online Calibration

A Robotic Framework for Simulation and Control of SCARA Robot Based on ROS

2019 ◽  
Author(s):  
Ujwal Shirode ◽  
Aishwarya Aher ◽  
Pallavi Bale ◽  
Aishwarya Kadam
Keyword(s):  
Scara Robot ◽  
Simulation And Control ◽  
And Control

scholarly journals Performance evaluation of GPS / BDS combined single-point positioning based on RTKLIB

2020 ◽  
Vol 165 ◽  
pp. 03009
Author(s):  
Li Yan-yi ◽  
Huang Jin ◽  
Tang Ming-xiu
Keyword(s):  
Kalman Filter ◽  
Extended Kalman Filter ◽  
Single Point ◽  
Least Square Method ◽  
Least Square ◽  
Filter Method ◽  
Single System ◽  
Positioning Error ◽  
Dual Mode ◽  
Kalman Filter Method

In order to evaluate the performance of GPS / BDS, RTKLIB, an open-source software of GNSS, is used in this paper. In this paper, the least square method, the weighted least square method and the extended Kalman filter method are respectively applied to BDS / GPS single system for data solution. Then, the BDS system and GPS system are used for fusion positioning and the positioning results of the two systems are compared with that of the single system. Through the comparison of experiments, on the premise of using the extended Kalman filter method for positioning, when the GPS signal is not good, BDS data is introduced for dual-mode positioning, the positioning error in e direction is reduced by 36.97%, the positioning error in U direction is reduced by 22.95%, and the spatial positioning error is reduced by 16.01%, which further reflects the advantages of dual-mode positioning in improving a system robustness and reducing the error.

Dynamic and Positioning Performances of Linear Electromechanical Actuator

2015 ◽  
Vol 809-810 ◽  
pp. 682-687
Author(s):  
Vasile Nasui ◽  
Mihai Banica ◽  
Dinu Darabă
Keyword(s):  
Dynamic Characteristics ◽  
Practical Importance ◽  
Correct Identification ◽  
Positioning System ◽  
Positioning Error ◽  
Servo Motor ◽  
Positioning Accuracy ◽  
Electromechanical Actuator ◽  
Initial Errors ◽  
Selection For

This paper presents the dynamic characteristics and the proposed positioning performance of the system to them investigated experimentally. In this research, we developed the positioning system and we evaluated positioning accuracy. The developed system uses a servo motor for motion actuation. In this paper, we focused on studying the dependency of the positioning error – elementary errors – the position of the conducting element for the mechanism of the transformation of the rotation translation movement, representatively the mechanism screw – screwdriver and on emphasizing the practical consequences in the field of design, regulation and exploitation of the correct identification of all the initial errors in the structure of the mechanism, their character and the selection for an ultimate calculus of these which are of a real practical importance.

scholarly journals GPS Positioning Error Compensation Based on Kalman Filtering

2021 ◽  
Vol 1920 (1) ◽  
pp. 012088
Author(s):  
Wenjiu Zhu ◽  
Jie Hou ◽  
Zhengqiong Liu ◽  
Zhizhong Ding
Keyword(s):  
Kalman Filtering ◽  
Error Compensation ◽  
Positioning Error ◽  
Gps Positioning
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