Granular Space Structure on a Micrometric Scale for Industrial Robots

We study the statistical relationship between angular position and target for industrial robots on a micrometric scale and this leads us to understand the angular position stochastic structure. The concept of granular angular space is introduced and transposed in the Cartesian space. Modeling is based on experimental work performed for a Kuka and a Samsung robot. The influence of workspace location, posture and angular granularity ratio on the Cartesian granular space are then analysed.