Positioning error analysis for robot manipulators with all rotary joints

@article{Chen1986PositioningEA,
  title={Positioning error analysis for robot manipulators with all rotary joints},
  author={Junliang Chen and L. N. Chao},
  journal={Proceedings. 1986 IEEE International Conference on Robotics and Automation},
  year={1986},
  volume={3},
  pages={1011-1016}
}
Advanced industrial robots are commanded to accomplish different tasks with program sequences that are executed in digital computers. The operating software within these computers provide users with information on positions and orientations of the end effectors by computing them as functions of the joint variables. These functions are generally not exact enough such that differences between the computed and the actual positions can be significant. Error sources that contribute to these… CONTINUE READING

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