Kinematic accuracy analysis of robot based on local POE

@article{Sheng2017KinematicAA,
  title={Kinematic accuracy analysis of robot based on local POE},
  author={Wang Bin Sheng and Shen Jingjin and Xu Fengyu and Jiang Guoping},
  journal={2017 29th Chinese Control And Decision Conference (CCDC)},
  year={2017},
  pages={4922-4927}
}
Linear kinematics model based on POE formula has been widely applied to the error compensation of robot. In this paper, we employed a calibration model in the Local POE frame where all the joint axes are repressed in their respective local frames. The major advantage of this formula is that the local coordinate frames can be arbitrarily assigned onto their corresponding links. For analyzing the applicability of linear model, this paper builds envelope model of error distribution using linear… CONTINUE READING

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