{"id":{"repo_id":"vt","oai_identifier":"oai:vtechworks.lib.vt.edu:10919/42036"},"canonical_url":"https://search.dev.ndltd.org/etd/vt/oai:vtechworks.lib.vt.edu:10919/42036","repository":{"repo_id":"vt","name":"Virginia Tech","base_url":"https://vtechworks.lib.vt.edu/oai/request"},"display":{"title":"Robot positioning error analysis and correction","abstract":"The applicability and productivity of industrial robots have been limited partly because of positioning errors. In this thesis, two causes of positioning errors are identified: link deflection and gear transmission errors. Positioning errors due to the effect of link deflection and gear transmission errors are discussed and an iterative scheme is introduced to compute the deflected end-effector position. Validity of the scheme is verified by using Castigliano’s method on the same two-link hypothetical robot. Numerical integration of the integral equations of deflections is compared with analytical integration A correction method is then proposed and an error corrector is constructed. Effectiveness of the error corrector is demonstrated with a hypothetical RRRS robot, a 3-link robot with revolute joints and a spherical hand.","abstract_html":"The applicability and productivity of industrial robots have been limited partly because of positioning errors. In this thesis, two causes of positioning errors are identified: link deflection and gear transmission errors. Positioning errors due to the effect of link deflection and gear transmission errors are discussed and an iterative scheme is introduced to compute the deflected end-effector position. Validity of the scheme is verified by using Castigliano’s method on the same two-link hypothetical robot. Numerical integration of the integral equations of deflections is compared with analytical integration A correction method is then proposed and an error corrector is constructed. Effectiveness of the error corrector is demonstrated with a hypothetical RRRS robot, a 3-link robot with revolute joints and a spherical hand.","abstract_has_math":false,"creators":["Tang, Stanley C."],"institution":"Virginia Tech","degree_name":"Master of Science","degree_level":"masters","degree_discipline":"Industrial Engineering and Operations Research","degree_department":"Industrial Engineering and Operations Research","school":null,"contributors":[],"advisors":[],"committee_chairs":[],"committee_members":[],"year":1987,"date_issued":"1987","date_published":"1987","updated_at":"2026-07-22T22:19:59Z","subjects":[],"languages":[],"rights":["In Copyright"],"rights_urls":["http://rightsstatements.org/vocab/InC/1.0/"],"identifier_entries":[{"key":"dc:identifier.other","label":"Dc Identifier Other","values":["etd-04122010-083623"],"render_values":[{"text":"etd-04122010-083623","href":null,"code":true}]}]},"links":{"outbound_url":"http://hdl.handle.net/10919/42036","outbound_label":"Handle","outbound_source":"dc:identifier.uri"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor.department","label":"Department","values":["Industrial Engineering and Operations Research"]},{"key":"dc:creator","label":"Author","values":["Tang, Stanley C."]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date.accessioned","label":"Dc Date Accessioned","values":["2014-03-14T21:33:35Z"]},{"key":"dc:date.available","label":"Dc Date Available","values":["2014-03-14T21:33:35Z","2010-04-12"]},{"key":"dc:date.issued","label":"Date","values":["1987"]},{"key":"dc:publisher","label":"Institution","values":["Virginia Tech"]},{"key":"dc:type","label":"Dc Type","values":["Thesis"]},{"key":"dc:type.dcmitype","label":"Dc Type Dcmitype","values":["Text"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Industrial Engineering and Operations Research"]},{"key":"thesis:degree_level","label":"Degree Level","values":["masters"]},{"key":"thesis:degree_name","label":"Degree Name","values":["Master of Science"]},{"key":"thesis:institution_name","label":"Thesis Institution Name","values":["Virginia Polytechnic Institute and State University"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:rights","label":"Dc Rights","values":["In Copyright"]},{"key":"dc:rights.uri","label":"Rights URI","values":["http://rightsstatements.org/vocab/InC/1.0/"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier.other","label":"Dc Identifier Other","values":["etd-04122010-083623"]},{"key":"dc:identifier.uri","label":"Identifier URI","values":["http://hdl.handle.net/10919/42036"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description.abstract","label":"Abstract","values":["The applicability and productivity of industrial robots have been limited partly because of positioning errors. In this thesis, two causes of positioning errors are identified: link deflection and gear transmission errors. Positioning errors due to the effect of link deflection and gear transmission errors are discussed and an iterative scheme is introduced to compute the deflected end-effector position. Validity of the scheme is verified by using Castigliano’s method on the same two-link hypothetical robot. Numerical integration of the integral equations of deflections is compared with analytical integration A correction method is then proposed and an error corrector is constructed. Effectiveness of the error corrector is demonstrated with a hypothetical RRRS robot, a 3-link robot with revolute joints and a spherical hand."]},{"key":"dc:description.degree","label":"Dc Description Degree","values":["Master of Science"]},{"key":"dc:format.medium","label":"Dc Format Medium","values":["BTD"]},{"key":"dc:format.mimetype","label":"Dc Format Mimetype","values":["application/pdf"]},{"key":"dc:title","label":"Title","values":["Robot positioning error analysis and correction"]}]}],"canonical_facts":{"dc:contributor.department":["Industrial Engineering and Operations Research"],"dc:creator":["Tang, Stanley C."],"dc:date.accessioned":["2014-03-14T21:33:35Z"],"dc:date.available":["2014-03-14T21:33:35Z","2010-04-12"],"dc:date.issued":["1987"],"dc:description.abstract":["The applicability and productivity of industrial robots have been limited partly because of positioning errors. In this thesis, two causes of positioning errors are identified: link deflection and gear transmission errors. Positioning errors due to the effect of link deflection and gear transmission errors are discussed and an iterative scheme is introduced to compute the deflected end-effector position. Validity of the scheme is verified by using Castigliano’s method on the same two-link hypothetical robot. Numerical integration of the integral equations of deflections is compared with analytical integration A correction method is then proposed and an error corrector is constructed. Effectiveness of the error corrector is demonstrated with a hypothetical RRRS robot, a 3-link robot with revolute joints and a spherical hand."],"dc:description.degree":["Master of Science"],"dc:format.medium":["BTD"],"dc:format.mimetype":["application/pdf"],"dc:identifier.other":["etd-04122010-083623"],"dc:identifier.uri":["http://hdl.handle.net/10919/42036"],"dc:publisher":["Virginia Tech"],"dc:rights":["In Copyright"],"dc:rights.uri":["http://rightsstatements.org/vocab/InC/1.0/"],"dc:title":["Robot positioning error analysis and correction"],"dc:type":["Thesis"],"dc:type.dcmitype":["Text"],"thesis:degree_discipline":["Industrial Engineering and Operations Research"],"thesis:degree_level":["masters"],"thesis:degree_name":["Master of Science"],"thesis:institution_name":["Virginia Polytechnic Institute and State University"]},"updated_at":"2026-07-22T22:19:59Z"}