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In this paper, a new method for the estimation of orientation repeatability index is proposed for industrial manipulator robots. First, we compute orientation repeatability in different locations of the workspace using the experimental covariance matrix and the stochastic ellipsoid modeling. Then we display experimental results about the direct measurement of orientation repeatability for an industrial...
The paper proposes a new procedure to compare the repeatability of serial and parallel robots based on the stochastic ellipsoid theory. The ISO9283 position repeatability index is estimated but also other performance criteria built upon the stochastic ellipsoid geometrical characteristics. The choice of the best comparison criterion is investigated and different solutions are proposed, associated...
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