Research Article
Uncertainty Estimation of Robot Geometric Parameters and End-Effecter Position Based on New Generation GPS
Table 1
The calibrated values, uncertainty, and the endpoints of 95% coverage intervals of geometric parameters.
| | Parameters | Nominal values | Calibrated values | Uncertainty | Expanded uncertainty | U-endpoint | L-endpoint |
| | (°) | 0.00 | 0.0000 | 0.0000 | 0.0000 | 0.0000 | 0.0000 | | (°) | -90.00 | -90.0620 | 0.0112 | 0.0224 | -90.0396 | -90.0844 | | (°) | 0.00 | -0.1825 | 0.0188 | 0.0376 | -0.1449 | -0.2201 | | (°) | 0.00 | -0.3125 | 0.0935 | 0.1870 | -0.1255 | -0.4995 | | (°) | 0.00 | -0.5217 | 0.0146 | 0.0292 | -0.4925 | -0.5509 | | (°) | 0.00 | 0.0000 | 0.0000 | 0.0000 | 0.0000 | 0.0000 | | d1(mm) | 504.00 | 504.0000 | 0.0000 | 0.0000 | 504.0000 | 504.0000 | | d2(mm) | 0.00 | 0.0000 | 0.0000 | 0.0000 | 0.0000 | 0.0000 | | d3(mm) | 0.00 | 0.7937 | 0.7233 | 1.4466 | 2.2403 | -0.6529 | | d4(mm) | 1060.00 | 1059.7833 | 0.4637 | 0.9274 | 1060.7107 | 1058.8559 | | d5(mm) | 0.00 | 0.7176 | 0.0580 | 0.1160 | 0.8336 | 0.6016 | | d6(mm) | 125.00 | 125.0000 | 0.0000 | 0.0000 | 125.0000 | 125.0000 | | a1(mm) | 170.00 | 166.5975 | 0.1664 | 0.3328 | 166.9303 | 166.2647 | | a2(mm) | 780.00 | 780.2600 | 0.0637 | 0.1274 | 780.3874 | 780.1326 | | a3(mm) | 140.00 | 140.3917 | 0.2980 | 0.5960 | 140.9877 | 139.7957 | | a4(mm) | 0.00 | 0.1621 | 0.1490 | 0.2980 | 0.4601 | -0.1359 | | a5(mm) | 0.00 | 0.1015 | 0.1778 | 0.3556 | 0.4571 | -0.2541 | | a6(mm) | 0.00 | 0.0000 | 0.0000 | 0.0000 | 0.0000 | 0.0000 | | α1(°) | -90.00 | -90.0003 | 0.0108 | 0.0216 | -89.9787 | -90.0219 | | α2(°) | 0.00 | -0.0261 | 0.0081 | 0.0162 | -0.0099 | -0.0423 | | α3(°) | -90.00 | -89.9810 | 0.0187 | 0.0374 | -89.9436 | -90.0184 | | α4(°) | 90.00 | 90.0605 | 0.3552 | 0.7104 | 90.7709 | 89.3501 | | α5(°) | -90.00 | -90.0150 | 0.3361 | 0.6722 | -89.3428 | -90.6872 | | α6(°) | 0.00 | 0.0000 | 0.0000 | 0.0000 | 0.0000 | 0.0000 | | β2(°) | 0.00 | 0.0234 | 0.0099 | 0.0198 | 0.0432 | 0.0036 |
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