Positioning accuracy analysis for an electromechanical coupled robotic joint module under uncertainties

The robotic joint module is a typical mechatronic system that inevitably faces uncertainties from various fields. These uncertainties significantly influence its positioning accuracy. In this article, we develop a positioning accuracy analysis o f a robotic joint module under such uncertainties. First, a comprehensive electromechanical coupling model is constructed by considering the information exchange rules between mechanical and electronic components. Subsequently, a positioning accuracy analysis is performed, taking into account uncertainties from different fields. A variance-based sensitivity analysis method is employed to represent the contribution of these uncertainties. Finally, simulations are carried out to evaluate the effectiveness of the proposed method.