Industrial robots are integral to modern manufacturing systems,enabling high precision,high throughput,and flexibility.However,errors in accuracy and repeatability,which arise from a variety of sources such as mechani...Industrial robots are integral to modern manufacturing systems,enabling high precision,high throughput,and flexibility.However,errors in accuracy and repeatability,which arise from a variety of sources such as mechanical wear,calibration issues,and environmental factors,can significantly impact the performance of industrial robots.This paper aims to explore the theoretical modeling of errors in industrial robot systems and propose compensation strategies to enhance their accuracy and repeatability.Key factors contributing to errors,such as kinematic,dynamic,and environmental influences,are discussed in detail.Additionally,the paper explores various compensation techniques,including geometric error compensation,dynamic compensation,and adaptive control approaches.Through the integration of error modeling and compensation methods,industrial robots can achieve improved performance,ensuring higher operational efficiency and product quality.The paper concludes by highlighting the challenges and future research directions for improving the accuracy and repeatability of industrial robots in practical applications.展开更多
The influences of joints' error, motion history, speed and robot posture on repeatability are analyzed and the mathematical expressions of the quantity, direction and distribution of the stochastic positional erro...The influences of joints' error, motion history, speed and robot posture on repeatability are analyzed and the mathematical expressions of the quantity, direction and distribution of the stochastic positional error are derived . Using this model the magnitude and direction of the stochastic positional error after any motion can be preestimated and compensated .展开更多
The throughput performance of modulation and coding schemes （MCS） selection with channel quality estimation errors （CQEE） is analyzed for high-speed downlink packet access （HSDPA）. To reduce the loss of throughp...The throughput performance of modulation and coding schemes （MCS） selection with channel quality estimation errors （CQEE） is analyzed for high-speed downlink packet access （HSDPA）. To reduce the loss of throughput caused by CQEE, the robust MCS selection method and adaptive MCS switching scheme are proposed. In addition, automatic repeat request （ARQ） scheme is used to improve the block error rate （BLER） performance. Simulation results show that the proposed methods decrease the throughput loss resulted from CQEE efficiently and BLER performance gets better with ARQ scheme.展开更多
文摘Industrial robots are integral to modern manufacturing systems,enabling high precision,high throughput,and flexibility.However,errors in accuracy and repeatability,which arise from a variety of sources such as mechanical wear,calibration issues,and environmental factors,can significantly impact the performance of industrial robots.This paper aims to explore the theoretical modeling of errors in industrial robot systems and propose compensation strategies to enhance their accuracy and repeatability.Key factors contributing to errors,such as kinematic,dynamic,and environmental influences,are discussed in detail.Additionally,the paper explores various compensation techniques,including geometric error compensation,dynamic compensation,and adaptive control approaches.Through the integration of error modeling and compensation methods,industrial robots can achieve improved performance,ensuring higher operational efficiency and product quality.The paper concludes by highlighting the challenges and future research directions for improving the accuracy and repeatability of industrial robots in practical applications.
文摘The influences of joints' error, motion history, speed and robot posture on repeatability are analyzed and the mathematical expressions of the quantity, direction and distribution of the stochastic positional error are derived . Using this model the magnitude and direction of the stochastic positional error after any motion can be preestimated and compensated .
文摘The throughput performance of modulation and coding schemes （MCS） selection with channel quality estimation errors （CQEE） is analyzed for high-speed downlink packet access （HSDPA）. To reduce the loss of throughput caused by CQEE, the robust MCS selection method and adaptive MCS switching scheme are proposed. In addition, automatic repeat request （ARQ） scheme is used to improve the block error rate （BLER） performance. Simulation results show that the proposed methods decrease the throughput loss resulted from CQEE efficiently and BLER performance gets better with ARQ scheme.
