Title :
Computer-aided joint error analysis of robots
Author :
Benhabib, B. ; Fenton, R.G. ; Goldenberg, A.A.
Author_Institution :
University of Toronto, Toronto, ON, Canada
fDate :
8/1/1987 12:00:00 AM
Abstract :
Various definitions of task-space tolerances, using geometric pseudoenvelopes, are introduced, and new approaches to "direct" and "inverse" joint-error analysis of robots are formulated. These error analyses lead to the development of a "feasible joint-tolerance domain" concept for use in computer-aided design of robots.
Keywords :
Motion control; Calibration; Computer errors; Design automation; End effectors; Error analysis; Error correction; Manufacturing; Orbital robotics; Robotics and automation; Robots;
Journal_Title :
Robotics and Automation, IEEE Journal of
DOI :
10.1109/JRA.1987.1087112
