{"title":"Computer-aided joint error analysis of robots","authors":"B. Benhabib, R. G. Fenton, A. Goldenberg","doi":"10.1109/JRA.1987.1087112","DOIUrl":null,"url":null,"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.","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"23 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1987-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"36","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"IEEE J. Robotics Autom.","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/JRA.1987.1087112","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 36
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.
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