Kinematic Model Sensitivity to Geometrical Parameters Errors and its Impact on Robot Precision

Autor:	M. Becquet, J.-M. Renders, E. Ponslet
Rok vydání:	1989
Předmět:	Joint coordinates Robot calibration business.industry Computer science Function (mathematics) Kinematics Computer Science::Robotics Control theory Position (vector) Orientation (geometry) Robot Computer vision Artificial intelligence Sensitivity (control systems) business
Zdroj:	CAD/CAM Robotics and Factories of the Future ISBN: 9783642523281 CAD/CAM Robotics and Factories of the Future ISBN: 9783662389942
DOI:	10.1007/978-3-642-52326-7_28
Popis:	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 .
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_dedup___::21254c17b02e614d2afc0e7ff5719b9a https://doi.org/10.1007/978-3-642-52326-7_28 Zobrazit plný text záznamu