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computational kinematics

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On the sensitivity analysis of the computational kinematics of the robotic manipulators
Siamak Vahidi, Kazem Kazerounian
Journal:

Robotica / Volume 13 / Issue 6 / November 1995

Published online by Cambridge University Press:

09 March 2009, pp. 575-581
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In the computational kinematics of robotic manipulators, accuracy and sensitivity of the results are highly dependent on the choice of the coordinate system, the metric system, and the appropriateness of performance evaluation measure. In this paper, these undesired sensitivities are examined and suitable performance criteria are developed to eliminate the coordinate system and metric system dependencies, and adverse numerical effects associated with them. Also a new formulation for the Jacobian matrix, joint velocities, and hand velocities, based on the Euler angles, is developed. This formulation, further improves numerical accuracy of the computations. Numerical experiments are included.