Titlebook: Kinematic Modeling, Identification, and Control of Robotic Manipulators; Henry W. Stone Book 1987 Kluwer Academic Publishers 1987 algorith

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Kinematic Modeling, Identification, and Control of Robotic Manipulators978-1-4613-1999-3Series ISSN 0893-3405

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Performance Evaluation Based Upon Simulation,errors. In . (S-Model), the correct arm signature model eliminates kinematic errors due to manufacturing. In this case, robot performance is limited by sensor errors which contribute to inaccuracy of the identified arm signature model.

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Introduction,proving their kinematic performance. The research described here addresses three problems in robot kinematics: ., and . Accurate robot kinematic models are needed to improve the positioning and orienting accuracy of commercially available robotic manipulators. The strong inter-relationships between

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Review of Robot Kinematics, Identification, and Control,issertation. The fundamental problem in the development of robot kinematic models is the use of geometric and trigonometric principles to systematically specify the relative positions and orientations of robot joints. Approaches to this problem are reviewed in this chapter. Standard terminology is u

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