Craig R. Tischler

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Solving the inverse kinematic-rate problem is an old and ever-present problem in robotics. Many methods of solution for this problem have been discussed over the past 30 years and, as computational speeds have improved, there has been greater expectation that this calculation will be performed online. This paper compares the merits of many of the methods(More)
This paper reviews techniques for assessing how joint clearances affect the precision of multiloop, multifreedom linkages. Slop, or backlash, arises from the small movements as joint clearances are taken up and, as these movements are generally uncontrolled, the precise location of bodies in the linkage becomes uncertain. This is particularly important when(More)
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