KINEMATIC ERROR ANALYSIS OF ROBOTS

KONG Xianwen, HAN Yongguo, YANG Tingli. KINEMATIC ERROR ANALYSIS OF ROBOTS[J]. ROBOT, 1993, 15(3): 7-12.

Citation:

KONG Xianwen, HAN Yongguo, YANG Tingli. KINEMATIC ERROR ANALYSIS OF ROBOTS[J]. ROBOT, 1993, 15(3): 7-12.

Citation:

KONG Xianwen, HAN Yongguo, YANG Tingli. KINEMATIC ERROR ANALYSIS OF ROBOTS[J]. ROBOT, 1993, 15(3): 7-12.

Abstract

In this paper,the third-order influence coefficient for serial robots is defined,and then explicit expressionsfor pose errors,pose velocity errors and pose acceleration errors in the hands of serial and parallel robots arederived systematically for the firsttime.The derivation is concise and all formulae are convenient for pro-graming.At last.an illustrative example is given.

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