= WAM Accuracy and Repeatability Study =

== Repeatability Test ==

{{{
#!div class="center" align="center"
[[Image(htdocs:wam/accuracy/wam_moving_towards.jpg)]]

'''Figure 1: WAM arm moving towards dial indicator'''
}}}

{{{
#!div class="center" align="center"
[[Image(htdocs:wam/accuracy/wam_touching.jpg)]]

'''Figure 2: WAM arm touching dial indicator'''
}}}

{{{
#!div class="center" align="center"
[[Image(htdocs:wam/accuracy/encoder_scale.jpg)]]

'''Figure 3: Motor encoder scale'''
}}}

Encoder resolution: 40,000 counts/rev
Motor resolution: 0.009 deg/count
Joint 1 transmission ratio: 30:1
Ideal joint resolution: .0003 deg/count
Approximate moment arm: 1 m
Ideal repeatability: 0.005 mm

=== Repeatability Data ===

{{{
#!div class="center" align="center"
[[Image(htdocs:wam/accuracy/repeatability_data.png)]]
}}}

== Accuracy Test ==

{{{
#!div class="center" align="center"
[[Image(htdocs:wam/accuracy/single_link_pen.jpg)]]

'''Figure 4: WAM - single link'''
}}}

{{{
#!div class="center" align="center"
[[Image(htdocs:wam/accuracy/single_link_closeup.jpg)]]

'''Figure 5: Closeup of single link WAM'''
}}}

{{{
#!div class="center" align="center"
[[Image(htdocs:wam/accuracy/dual_link.jpg)]]

'''Figure 6: WAM - dual link'''
}}}

=== Notes regarding accuracy data: ===
It is important to note that the repeatability data is a better measure for calibrated accuracy than is uncalibrated accuracy.  Uncalibrated accuracy was measured as shown in the figures to the right. A pen attached to the outer link was used to plot points on paper taped to the floor and the WAM base was secured to the floor.

Potential sources of measurement error include:
 * the floor was assumed to be flat
 * physical measurement error with rulers & T-squares
 * physical measurement of WAM origin difficult to measure accurately

Sources of system error (calibration error) include:
 * transmission ratio errors
 * tolerance stack-up of parts
 * tool location measurement (tip of pen)

=== Accuracy Data ===

{{{
#!div class="center" align="center"
[[Image(htdocs:wam/accuracy/accuracy_vs_reach.png)]]
}}}

{{{
#!div class="center" align="center"
[[Image(htdocs:wam/accuracy/graphs.png)]]
}}}