A Pair of Measures of Rotational Error for Axisymmetric Robot End-Effectors

Sébastien Briot (1) , Ilian Bonev (2)

1 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes
2 GPA - Département de génie de la production automatisée

This paper deals with the problem of representing the rotational error of spatial robots with three orientational degrees of freedom (DOF). Typically, the errors on each of three Euler angles defining the orientation of an end-effector are analysed separately. However, this is wrong since an accuracy measure should depend only on the "distance" between the nominal pose and the actual one, and not on the choice of reference frame in which these are represented. Several bi-invariant metrics for rotational error exist but are single-parameter and, by definition, disregard the shape of the robot end-effector. Yet, robot end-effectors are typically axisymmetric. Therefore, we propose a two-parameter measure of rotational errors that is better suited for such robot end-effectors.

Mots clés: accuracy analysis; rotational errors; Euler angles; distance metrics

Domaines: Génie mécanique [physics.class-ph]; Génie mécanique [physics.class-ph]

Sébastien Briot, Ilian Bonev. A Pair of Measures of Rotational Error for Axisymmetric Robot End-Effectors. Advances in Robot Kinematics, 11th International Symposium, Jun 2008, Batz-sur-Mer, France. ⟨hal-00451913⟩