Modeling and assessment of the backlash error of an industrial robot

Robotica ◽  
2012 ◽  
Vol 30 (7) ◽  
pp. 1167-1175 ◽  
Author(s):  
Mohamed Slamani ◽  
Albert Nubiola ◽  
Ilian A. Bonev
Keyword(s):  
Experimental Approach ◽  
Laser Interferometer ◽  
Industrial Robot ◽  
Statistical Tests ◽  
Measurement Instrument ◽  
Statistical Analyses ◽  
Serial Robot ◽  
Robot Configuration ◽  
The Relationship ◽  
Backlash Error

SUMMARYThis paper proposes an experimental approach for evaluating the backlash error of an ABB IRB 1600 industrial serial robot under various conditions using a laser interferometer measurement instrument. The effects of the backlash error are assessed by experiments conducted on horizontal and vertical paths. A polynomial model was used to represent the relationship between the backlash error and the robot configuration. A strategy based on statistical tests was developed to choose the degree of polynomial representing the effect of the tool center point (TCP) speed and payload. Results show that the backlash error strongly affects the repeatability of the industrial robot. Statistical analyses prove that the backlash is highly dependent on both robot configuration and TCP speed, whereas it remains nearly unaffected by changes in the payload. It was discovered that the backlash error as measured at the TCP may exceeds 100 μm, and that the positive backlash error increases and the negative backlash error decreases when there is increase in TCP speed.

EFFECT OF SERVO SYSTEMS ON THE CONTOURING ERRORS IN INDUSTRIAL ROBOTS

2012 ◽  
Vol 36 (1) ◽  
pp. 83-96 ◽  
Author(s):  
Mohamed Slamani ◽  
Albert Nubiola ◽  
Ilian A. Bonev
Keyword(s):  
High Speed ◽  
Industrial Robot ◽  
Statistical Tests ◽  
Measurement Instrument ◽  
Servo System ◽  
Industrial Robots ◽  
Structural Vibration ◽  
Tool Centre Point ◽  
Prediction Capability ◽  
Radius Size

Two important aspects of the performance of a servo system, tracking errors and contour errors, significantly affect the accuracy of industrial robots under high-speed motion. Careful tuning of the control parameters in a servo system is essential, if the risk of severe structural vibration and a large contouring error is to be avoided. In this paper, we present an overview of a method to diagnose contouring errors caused by the servo control system of an ABB IRB 1600 industrial robot by measuring the robot’s motion accuracy in a Cartesian circular shape using a double ballbar (DBB) measurement instrument. Tests were carried out at different TCP (tool centre-point) speed and trajectory radii to investigate the main sources of errors that affect circular contouring accuracy. Results show that radius size errors and out-of-roundness are significant. A simple experimental model based on statistical tests was also developed to represent and predict the radius size error. The model was evaluated by comparing its prediction capability in several experiments. An excellent error prediction capability was observed.

scholarly journals The Effect of State Gratitude on Cognitive Flexibility: A Within-Subject Experimental Approach

2020 ◽  
Vol 10 (7) ◽  
pp. 413
Author(s):  
Andree Hartanto ◽  
Nadia C. H. Ong ◽  
Wee Qin Ng ◽  
Nadyanna M. Majeed
Keyword(s):  
Pilot Study ◽  
Cognitive Functioning ◽  
Cognitive Flexibility ◽  
Positive Emotion ◽  
Positive Emotions ◽  
Experimental Approach ◽  
Main Study ◽  
Considerable Research ◽  
Potential Benefits ◽  
The Relationship

Considerable research has examined the relationship between positive emotion and cognitive flexibility. Less is known, however, about the causal relationship between discrete positive emotions, specifically gratitude, and cognitive flexibility. Given that different positive emotions may dissimilarly affect cognitive functioning, we sought to examine the effect of state gratitude on cognitive flexibility. A pilot study with ninety-five participants was employed to ensure the effectiveness of our gratitude manipulation. One hundred and thirteen participants were recruited for the main study, which utilized a within-subject experimental approach. After the manipulation, participants completed a well-established task-switching paradigm, which was used to measure cognitive flexibility. Contrary to our hypotheses, we did not find any evidence that state gratitude may enhance cognitive flexibility. The current study identified some boundary conditions around the potential benefits of the experience of gratitude.

scholarly journals Factors affecting the organizational performance of manufacturing firms

2017 ◽  
Vol 9 ◽  
pp. 184797901771262 ◽  
Author(s):  
Ahmad Adnan Al-Tit
Keyword(s):  
Organizational Performance ◽  
Measurement Instrument ◽  
Manufacturing Firms ◽  
Factors Affecting ◽  
Mediating Role ◽  
Values And Beliefs ◽  
The Individual ◽  
The Impact ◽  
The Relationship

Numerous studies have been conducted to explore the individual effects of organizational culture (OC) and supply chain management (SCM) practices on organizational performance (OP) in different settings. The aim of this study is to investigate the impact of OC and SCM on OP. The sample of the study consisted of 93 manufacturing firms in Jordan. Data were collected from employees and managers from different divisions using a reliable and valid measurement instrument. The findings confirm that both OC and SCM practices significantly predict OP. The current study is significant in reliably testing the relationship between SCM practices and OP; however, it is necessary to consider cultural assumptions, values and beliefs as the impact of OC on OP is greater than the impact of SCM practices. Based on the results, future studies should consider the moderating and mediating role of OC on the relationship between SCM practices and OP.

Growth Mechanism vs Matter Transport in Thermally Growing Oxides on High Temperature Materials: A Brief Survey Based on the Case Study of Alumina Formers

2009 ◽  
Vol 289-292 ◽  
pp. 385-395 ◽  
Author(s):  
Jerzy Jedlinski
Keyword(s):  
Growth Mechanism ◽  
Experimental Approach ◽  
Experimental Results ◽  
Metallic Materials ◽  
High Temperature Materials ◽  
Matter Transport ◽  
Alumina Formers ◽  
Microstructure Morphology ◽  
The Relationship

This paper reviews briefly the relationship between the growth mechanism and matter transport using as an example the best currently applied metallic materials being alumina formers. The attention is paid to the experimental approach as well as to the interpretation procedure of experimental results. The scale structure, microstructure, morphology and phase composition are indicated as factors strongly affecting its growth mechanism. The attempt is made to elucidate the possible relationships between the obtained experimental results and actual scale growth mechanisms operating during oxidation exposures.

scholarly journals Anemia berhubungan dengan Perdarahan Post Partum

2021 ◽  
Vol 6 (1) ◽  
pp. 13-18
Author(s):  
Zakiyah Yasin ◽  
Mujib Hannan ◽  
Erlyn Wahyuni
Keyword(s):  
Statistical Tests ◽  
Post Partum ◽  
Sampling Technique ◽  
Total Sample ◽  
Chi Square ◽  
Post Partum Hemorrhage ◽  
A Value ◽  
Anemia During Pregnancy ◽  
Independent Variable ◽  
The Relationship

Pregnant women who experience anemia and untreated until the end of pregnancy will have an effect at the time of delivery, so that it can cause post partum hemorrhage which results in death in the mother. This study aims to analyze the relationship between anemia and the incidence of post partum hemorrhage in Puskesmas Lenteng, Lenteng District, Sumenep Regency. The study design was analytic with a retrospective approach, the total population was 35 mothers, the total sample was 29 mothers, the sampling technique used random sampling. The independent variable is anemia, the dependent variable is the incidence of post partum hemorrhage. Collecting data using a checklist, data analysis using the chi square statistical test, the value of a = 0.05. The results showed that of the 29 women who gave birth, most of them experienced anemia (HB level <11 g%) during pregnancy, as many as 19 mothers gave birth (65.5%), and of the 29 mothers gave birth, most of them experienced post partum hemorrhage as much as 17 mothers gave birth (59%). The result of statistical tests using chi square with a value of a = 0.05, the resulting value (ρ) = 0.000, so that the value (ρ) <a (0.000 <0.05), which means that H0 is rejected and H1 is accepted, i.e. the relationship between anemia and the incidence of post partum hemorrhage at the Lenteng Public Health Center, Lenteng District, Sumenep Regency in 2020 In order to reduce the incidence of post partum hemorrhage, it is hoped that the mother in labor can prevent anemia during pregnancy, namely by consuming foods that contain lots of protein such as meat, liver, eggs, vegetables, folic acid (Vitamin C) and consumption of Fe tablets regularly and how to drink properly and according to conditions / needs.

scholarly journals Kejadian Hiperbilirubinemia Ditinjau dari Berat Badan Lahir

2020 ◽  
Vol 5 (1) ◽  
pp. 36-42
Author(s):  
Yeviza Puspitasari
Keyword(s):  
Random Sampling ◽  
Statistical Tests ◽  
Univariate Analysis ◽  
Bivariate Analysis ◽  
P Value ◽  
Chi Square ◽  
Cross Sectional ◽  
Study Population ◽  
Relationship Of ◽  
The Relationship

Hyperbilirubinemia is one of the clinical phenomena most often found in neonates occurring in the first week of life, which is also one of the factors causing infant death is influenced by the immature liver function of the baby to process erythrocytes (red blood cells), resulting in the accumulation of bilirubin. The purpose of this study was to determine the relationship of birth weight of infants with the incidence of hyperbilirubinemia in RSUD dr. Ibnu Soetowo Baturaja Ogan Komering Ulu Regency in 2019. This study uses analytic methods with a cross-sectional approach. The study population was all infants aged 0-7 days in the neonatal room at RSUD dr. Ibnu Soetowo Baturaja Ogan Komering Ulu Regency in 2019, with a random sampling. Data analysis uses univariate analysis and bivariate analysis using distribution tables and Chi-Square statistical tests, with a 95% confidence level. In the univariate analysis, of 203 respondents found 26.5% had hyperbilirubinemia and those without hyperbilirubinemia 72.5%, 24.6% of infants with LBW and non-LBW infants 75.4%. Bivariate analysis showed that there was an LBW relationship with the incidence of hyperbilirubinemia (p-value 0,000).

scholarly journals Diagnosis of the Misaligned Faults of the Vertical Test Instrument of High-Precision Industrial Robot Reducer

2021 ◽  
Vol 2021 ◽  
pp. 1-17
Author(s):  
Zhen Yu ◽  
Yuan Zhang
Keyword(s):  
High Precision ◽  
Industrial Robot ◽  
Performance Testing ◽  
Rotation Frequency ◽  
Torque Ripple ◽  
Industrial Robots ◽  
Rotating Machine ◽  
Torque Transducer ◽  
Misalignment Fault ◽  
The Relationship

High-precision reducer is the core component of industrial robots. In order to achieve the comprehensive performance testing of precision reducers, an instrument with a vertical layout and a cylindrical structure is designed. As a rotating machine, the inevitable coupling misalignment of the instrument can lead to vibration faults which lead to errors in the test. So it is pretty necessary to diagnose and monitor the coupling misalignment while the instrument is working. The causes of the coupling misaligned fault of the instrument and the relationship between the misalignment fault and torque ripple are analyzed in this paper. A method of using the torque transducer in the measurement chain of the instrument to diagnose the coupling misalignment is proposed in this paper. Many experiments have been done to test the capability of detecting the coupling misalignment using this method. Experimental results show that the amplitude of torque ripple of the shaft is linearly related to the coupling misalignment and is quadratically related to the rotation speed of the shaft when the misalignment exists in the shaft. The combination of components at the rotation frequency (fr) and the additional components can be used to diagnose faults due to coupling misalignment.

scholarly journals Hubungan Faktor Maternal terhadap Posisi pada Waktu Persalinan Kala II dengan Kejadian Ruptur Perineum

2020 ◽  
Vol 2 (1) ◽  
pp. 31-36
Author(s):  
Wa Ode Hajrah ◽  
Niken Purbowati ◽  
Novia Nuraini
Keyword(s):  
Maternal Age ◽  
Statistical Tests ◽  
Reproductive Organs ◽  
P Value ◽  
Chi Square ◽  
Cross Sectional ◽  
Second Stage ◽  
Second Stage Labor ◽  
Relationship Of ◽  
The Relationship

erineal rupture needs attention because it can cause dysfunction of the female reproductive organs, as a source of bleeding, a source, or a way in and out of infection, then it can cause death due to bleeding or sepsis. About 85% of Women who delivery vaginally experience perineal rupture, in the age group 25-30 years 24%, while in maternal age 32-39 years by 62%. In Asia, perineal rupture is also a problem in society, 50 % of the world's occurrence is in Asia. The study aims to determine the relationship of maternal factors to the position of the second stage labor and perineal rupture occurrence. This research applied a descriptive-analytic method using a cross-sectional research design. The research sample was 102 respondents, accidental random sampling, which was all labor with perineal rupture in July to November 2018. Statistical tests used chi-square. The results of perineal rupture with maternal age was p-value 0.042 (p <0.05), perineal rupture with maternal parity was p-value 0.01 (p <0.05). Suggestions for various maternal positions in maternity and ANC classes to prevent perineal rupture.

scholarly journals Lack of Change Information and End User Grumbling: Mediating Role of Fear of Unknown and Moderating Role of Emotional Regulation

2020 ◽  
Vol 13 (3) ◽  
pp. 1-15
Author(s):  
Rida Bangash ◽  
Kausar Fiaz Khawaja ◽  
Sumayya Chughtai
Keyword(s):  
Emotional Regulation ◽  
Statistical Tests ◽  
Self Regulation ◽  
Successful Implementation ◽  
End User ◽  
User Resistance ◽  
Mediating Role ◽  
The Relationship ◽  
Moderating Role

User resistance is a complex phenomenon and is considered a major constraint towards the successful implementation and usage of information technology. Hence, in order to investigate the factors that may lead to user resistance; the current study proposes and investigates the mediating role of fear of unknown between lack of change information and end-user grumbling, and the moderating role of emotional regulation between the relationship. Emotional self-regulation theory has been used as an overarching theory that explains the research model proposed and tested in the study. Using a Quantitative approach, the survey was conducted and data was collected from 334 users of FBR systems. With the help of SPSS and MACRO PROCESS, statistical tests were conducted and links were tested. Results revealed that all hypotheses were accepted. Along with these discussions, research implications and recommendations are also provided.

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