PT Journal
AU Marcanik, M
   Kubisova, M
   Pata, V
   Knedlova, J
   Suba, O
   Vrbova, H
TI Optimizing the Position of a Robotic Arm Using Statistical Methods
SO Manufacturing Technology Journal
PY 2024
BP 618
EP 625
VL 24
IS 4
DI 10.21062/mft.2024.073
DE Industrial Robots; Kinematic Models; Polynomial Regression; Error Measurement; Collaborative Robot
AB 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.
ER