Abstract
The influence of the error on throwing motion will be reduced by an appropriate trajectory design. In this paper, we focus on the human-error in zero-adjustment of joint angles of a robot. Based on the conventional approach, the calculation method of error sensitivity in planer throwing and the robust trajectory design are explained. A 3-DOF throwing robot is prototyped, and human-error of zero adjustment is measured and analyzed. An error ellipsoid is introduced based on the measured data, which is utilized for calculation of sensitivity. By Monte-Carlo simulations, the effectiveness of considering error distribution is evaluated.
