Enhancement of Robot Accuracy using Endpoint Feedback and a Macro-Micro Manipulator System

  title={Enhancement of Robot Accuracy using Endpoint Feedback and a Macro-Micro Manipulator System},
  author={Andre Sharon and David E. Hardt},
  journal={1984 American Control Conference},
The problem of robot positioning accuracy is caused primarily by unmeasured deflections of the structure and poor actuator servo resolution. This is particulary troublesome when large manipulators and payloads are considered. This paper presents an approach to this problem based on the use of a direct enpoint position and orientation measurement. While this insures accurate measurement of endpoint errors, it is still difficult for most manipulators to accurately make fine movements. To address… CONTINUE READING
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