Error Detection and Prediction Algorithms: Application in Robotics |
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Authors: | Xin W Chen Shimon Y Nof |
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Affiliation: | (1) PRISM Center, Purdue University, 315 N. Grant Street, W. Lafayette, IN 47907-2023, USA |
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Abstract: | This article presents research on error detection and prediction algorithms in robotics. Errors, defined as either agent error
or Co-net error, are analyzed and compared. Three new error detection and prediction algorithms (EDPAs) are then developed,
and validated by detecting and predicting errors in typical pick and place motions of an Adept Cobra 800 robot. A laser Doppler
displacement meter (LDDM™) MCV-500 is used to measure the position of robot gripper in 105 experiment runs. Results show that
combined EDPAs are preferred to detect and predict displacement errors in sequential robot motions. |
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Keywords: | agent error detection co-net error detection co-net error prediction error detection algorithm error prediction algorithm pick and place motion |
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