Tracking Accuracy & Error Analysis
An important criterion for validating the seam tracking algorithm is establishing an upper bound on the tracking error during the entire seam tracking process. If the tracking error does not propagate from one cycle to the next then the stability of the seam tracking process is ensured. The pathpoint coordinates input to the robot controller during each cycle is derived from both the continuous model and the discrete model of the seam, given by Equation (7.1) derived earlier in Chapter 5.
KeywordsTracking Error Coordinate Frame Minimum Radius Range Sensor Robot Controller
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