期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2012
卷号：9
期号：4
页码：159
DOI：10.5772/51835
语种：English
出版社：SAGE Publications
摘要：Robot precision is usually characterized by repeatability and accuracy. In this paper, we show that these indices are not sufficient to describe robot behaviour at the micrometre scale. New, precision performances are discussed and the experimental procedure to estimate these indices is described. The main results of the experimental work performed on Samsung Faraman and Epson Scara robots are displayed. Reversibility, hysteresis and spatial resolution have to be taken into account when the robot has to be controlled precisely at the micrometre scale. A granular control design including harmonization poses is proposed as a conclusion.
关键词：Precision; Repeatability; Robot performance; Micrometre control
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