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Computer-aided joint error analysis of robots

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3 Author(s)
Benhabib, B. ; University of Toronto, Toronto, ON, Canada ; Fenton, R.G. ; Goldenberg, A.A.

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.

Published in:

Robotics and Automation, IEEE Journal of  (Volume:3 ,  Issue: 4 )