Kuei-Jen Cheng and Pi-Ying Cheng
Manipulator; fabrication error; force ellipsoid
Manipulators were adopted in industrial field decades ago, but un- certainty still exists in their performance because of errors produced during the fabrication processes. This uncertainty would deteriorate the performance of manipulators and causes these manipulators unable to meet what are required in their specifications. Although the performance of manipulators has been discussed in many re- searches, these studies all focused on the positioning accuracy or the kinematic performance over a specific trajectory with or without the influence of fabrication errors. However, manipulators always need to perform tasks with requirements on velocity over its workspace, and fabrication errors always have influence on it. It is not practical to define the performance of a manipulator only based on its posi- tioning accuracy or kinematic performance over a specific trajectory with or without the influence of fabrication errors. To complement this insufficiency, this article utilizes the concept of force ellipsoid to conduct the maximum achievable and sustainable velocity of a non-redundant serial manipulator and evaluates the effect of fabri- cation errors on the velocity performance of the manipulator over its workspace.
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