Year: 2025
Type: preprint
Abstract: This paper presents a focused analytical sensitivity model for 6-DOF planar collaborative robots. Rather than combining multiple concepts, we isolate the core problem: quantifying how each joint's small angle deviation impacts the Cartesian displacement of the end-effector. Using a step-by-step approach rooted in forward kinematics, we construct the Jacobian matrix manually from symbolic expressions, and define sensitivity metrics for each joint. We then evaluate those sensitivities numerically using real-world dimensions and configurations relevant to industrial cobots.
Authors: Rajesh Vedala, Manpreet Kaur
Institution: Verizon (United States)
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: gold
OpenAlex ID: W4414487809
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