Ph. Drouet

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In this paper, a systematic methodology to calculate the end-effector position and orientation errors of a robotic manipulator is presented. The method treats the physical error sources in a unified manner during the system's design so that the effect they have on the end-effector positioning accuracy can be compared and the dominant sources identified.(More)
SUMMARY A method is presented that compensates for manipulator end-point errors in order to achieve very high position accuracy. The measured end-point error is decomposed into generalized geometric and elastic error parameters that are used in an analytical model to calibrate the system as a function of its configuration and the task loads, including any(More)
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