Innovative kinematics and control to improve robot spatial resolution

Abstract

The paper presents innovative kinematics and control of a planar redundant robot designed to improve spatial resolution by a factor 5. This result is obtained in a restricted area of the workspace using position information from external sensors. This innovation results from a clearer understanding of the factors that influence the robot micrometric behavior: axes control resolution generates a set of attainable points in the robot workspace and different spatial resolution patterns appear when introducing redundancy depending on the final axes chosen to correct the position.