Abstract
The kinematic model of a manipulator is a function of joint coordinates and link geometry usually defined by the Denavit and Hartenberg parameters.Small errors committed on these parameters can produce large position and orientation errors of the end-effector .The method presented makes possible to examine the sensitivity of the kinematic model relative to any parameters .
This method can be used a priori to define required precision on parameters for a required precision on the end-effector location and also a posteriori to identify the exact parameters of a robot by measuring the real position of the end-effector .
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References
W.K. VEITSCHEGGER and C.-H. WU;”Robot accuracy analysis based on kinematics”,IEEE journal of robotics and automation,vol RA-2,n 3,sept. 1986,pp 171
R. PAUL,”Robot manipulators”,MIT press,1981
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© 1989 Springer-Verlag Berlin, Heidelberg
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Becquet, M., Renders, JM., Ponslet, E. (1989). Kinematic Model Sensitivity to Geometrical Parameters Errors and its Impact on Robot Precision. In: Prasad, B. (eds) CAD/CAM Robotics and Factories of the Future. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-52326-7_28
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DOI: https://doi.org/10.1007/978-3-642-52326-7_28
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-52328-1
Online ISBN: 978-3-642-52326-7
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