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Accuracy Resolution Repeatability

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15 views19 pages

Accuracy Resolution Repeatability

Uploaded by

iitiandude93
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Robot Specifications

Dr. Ashish Dutta


Professor, Dept. of Mechanical Engineering
Dean, Digital Infrastructure and Automation
Indian Institute of Technology Kanpur,
Kanpur 208016, INDIA

Errors that are inherent in a robot – There is
nothing exact in the real world!

 Control system – encoder least count, numerical


errors, noise, etc.

 Memory size – 16 bit, 32 bit, 64 bit ?

 Mechanical – Tolerance, gear backlash, stiffness,


friction, etc.

 Temperature, operating conditions,

 Wear and tear

 Others ?
Memory ??

Errors!
 Encoder
 Gear
 Shaft Flexibility
 PD controller ???
Resolution, Accuracy and Repeatability

 Control resolution: smallest incremental


change that the control system can distinguish.

 Spatial resolution: considering mechanical


inaccuracies and sensor noise then it’s the
worst case distance between two adjacent
positions.
 Accuracy : measure to approach an
arbitrary point in space , previously never
approached.

- Mechanical errors and control resolution.

- Accuracy is equal to half the control


resolution.
 Repeatability: ability of a manipulator to
position it self at a position previously
taught.

- Wear and tear, temperature, stiffness,


direction of motion, speed of motion etc.
Evolution of human hand.
 Small or long fingers ?
Stability

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