• DocumentCode
    1206118
  • 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
  • Volume
    3
  • Issue
    4
  • fYear
    1987
  • fDate
    8/1/1987 12:00:00 AM
  • Firstpage
    317
  • Lastpage
    322
  • 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;
  • fLanguage
    English
  • Journal_Title
    Robotics and Automation, IEEE Journal of
  • Publisher
    ieee
  • ISSN
    0882-4967
  • Type

    jour

  • DOI
    10.1109/JRA.1987.1087112
  • Filename
    1087112
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1206118