Manufacturing Technology 2024, 24(4):618-625 | DOI: 10.21062/mft.2024.073

Optimizing the Position of a Robotic Arm Using Statistical Methods

Miroslav Marcaník ORCID...1, Milena Kubišová ORCID...1, Vladimír Pata ORCID...1, Jana Knedlová ORCID...1, Oldřich Šuba ORCID...1, Hana Vrbová ORCID...1,2
1 Department of Production Engineering, Faculty of Technology, Tomas Bata University in Zlín, Vavrečkova 5669, 760 01 Zlín, Czech Republic
2 Department of Plastics and Rubber, Institute of Polymer Materials, Faculty of Chemical and Food Technology, Slovak University of Technology in Bratislava, Radlinského 9, 811 07 Bratislava, Slovakia

Robotics plays a key role in industry and its use continues to grow. Robots are used in many industries to increase efficiency, productivity, and safety of work processes. This manuscript focuses on the spatial calibration of collaborative robot arms using appropriate statistical tools. Nowadays, there are many special programming languages, simulations or virtual realities (VR), which in most cases perform calibration using matrix relations. The mathematical-statistical solution is not solved very often, and the use of linear relationships is valid only in certain parts of the workspace of the collaborative robot. The purpose of this article is to demonstrate how to find a suitable statistical method that would respect the wear of the arm mechanism in predefined positions based on the requirements of ISO 230-2:2015. Based on these measurements, it is possible to assume that optimal solutions can be obtained using a polynomial regression function. This optimization method will be searched using the Newton and Markwartel methods.

Keywords: Industrial Robots, Kinematic Models, Polynomial Regression, Error Measurement, Collaborative Robot
Grants and funding:

This work and the project were realized with financial support from the internal grant of TBU in Zlin No. IGA/FT/2024/002, funded by the resources of specific university research

Received: April 8, 2024; Revised: July 8, 2024; Accepted: August 26, 2024; Prepublished online: August 26, 2024; Published: September 1, 2024  Show citation

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Marcaník M, Kubišová M, Pata V, Knedlová J, Šuba O, Vrbová H. Optimizing the Position of a Robotic Arm Using Statistical Methods. Manufacturing Technology. 2024;24(4):618-625. doi: 10.21062/mft.2024.073.
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