Analysis of precision positioning of multi-axis robot system

Abstract

In robotic automation, resolution in the actuations of joints can be expressed as discrete one. Due to the use of angular encoders as the sensing device for joint actuation, robot movement is limited within discrete positions in its reachable workspace. The absolute accuracy of the end effector depends on the resolution of the actuated joints. It is associated with the accuracy of the work. It is necessary to analyze this situation. In this paper, we analyzed the effect on the robot's operation and its effect on the discrete resolution in its joints and links of the robot, and studied the characteristics of the approach direction and distance from the origin for joint movement with a discrete resolution.