Abstract

This paper describes a method for reducing the positioning errors of a robot during a given trajectory by using differential load cell transformer feedback to minimize the mean positioning error of the end-effector along the assigned trajectories result from the deflections and torques during operation and payloads, without changing the total motion time. In order to simulate this method, a new control system is presented and discussed in this paper to deal with the robotics technology design, construction and operation of robots that are used in the applications that require accurate and repetitive tasks. This paper also proposed a differential load cell transformer transducer feedback control system to control the positional errors which are caused by robot links deflections that depends on the robot position and its payload. The proposed control system will be used to control the safety of the robot, avoiding the collisions, control the resolution, accuracy, and repeatability

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