Robot positioning accuracy is critically important in many manufacturing applications. While
geometric errors such as imprecise link length and assembly misalignment dominate …

Collaborative industrial robots often use strain-wave transmissions which display a highly
nonlinear behavior. In particular, the friction torque depend on the load torque and the …

In order to facilitate the use of articulated robots for complex industrial applications, methods
to improve the absolute positioning accuracy are needed. This work introduces a robot …

Robot accuracy degradation sensing, monitoring, and assessment are critical activities in
many industrial robot applications, especially when it comes to the high accuracy operations …

The use of lightweight strain-wave transmissions in collaborative industrial robots leads to
structural compliance and a complex nonlinear behavior of the robot joints. Furthermore …

In this paper, harmonic drive which is commonly used in robot joints is studied. A kinematic
model of harmonic drive with input eccentricity error is established. The model and the …

Bearing systems and harmonic drives in robots introduce complex kinematic errors which
result in joint kinematic errors that reduce the accuracy of their manipulators. Typical …

Geometric errors such as inaccurate link length and assembly alignment are the primary
sources of positioning errors for industrial robots. Besides, complex joint-dependent …

Automated manufacturing of large scale parts often involves multiple collaborating robots
and requires high positional accuracy. Depending on the layout of the work cell multiple …

In this paper, harmonic drive which is commonly used in robot joints is studied. A kinematic
model of harmonic drive with input eccentricity error is established. The model and the …