Efficient computation of motion error of parallel robots with joint clearances based on joint force model
نویسندگان
چکیده
منابع مشابه
Error Modelling and Experimental Validation of a Planar 3-PPR Parallel Manipulator with Joint Clearances
This paper deals with the error modelling and analysis of a 3-PPR planar parallel manipulator with joint clearances. The kinematics and the Cartesian workspace of the manipulator are analyzed. An error model is established with considerations of both configuration errors and joint clearances. Using this model, the upper bounds and distributions of the pose errors for this manipulator are establ...
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ژورنال
عنوان ژورنال: Transactions of the JSME (in Japanese)
سال: 2018
ISSN: 2187-9761
DOI: 10.1299/transjsme.18-00057