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The Kinematic Sensitivity of Robotic Manipulators to Joint Clearances

[+] Author Affiliations
Nicolas Binaud, Stéphane Caro, Philippe Wenger

Institut de Recherche en Communications et Cybernétique de Nantes, Nantes, France

Philippe Cardou

Laval University, Quebec, QC, Canada

Paper No. DETC2010-28635, pp. 1371-1380; 10 pages
  • ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B
  • Montreal, Quebec, Canada, August 15–18, 2010
  • Conference Sponsors: Design Engineering Division and Computers in Engineering Division
  • ISBN: 978-0-7918-4410-6 | eISBN: 978-0-7918-3881-5
  • Copyright © 2010 by ASME


The paper deals with the kinematic sensitivity of robotic manipulators to joint clearances. First, an error prediction model applicable to both serial and parallel manipulators is developed. A clearance model associated with axisymmetrical joints, which are widely used in robotic manipulators, is also proposed. Then, two nonconvex quadratically constrained quadratic programs (QCQPs) are formulated in order to find the maximum reference-point position error and the maximum orientation error of the moving-platform for given joint clearances. Finally, the contributions of the paper are highlighted by means of two illustrative examples.

Copyright © 2010 by ASME
Topics: Manipulators



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