Romansy 13 pp 51-58 | Cite as

A Formal-Numerical Approach to Determine the Accuracy of a Parallel Robot in a 6D Workspace

  • J.-P. Merlet
Part of the International Centre for Mechanical Sciences book series (CISM, volume 422)


The positioning error of a parallel robot is conditioned by the measurement errors on the leg lengths, these two quantities being linearly related through the pose-dependent jacobian matrix of the robot. An important design problem is to determine the extremum of the positioning errors over a prescribed 6D workspace. This is a difficult problem as the jacobian matrix has a complex formulation, involving thousands of terms. We present the preliminary result for an algorithm that estimate the positioning error with an arbitrary accuracy.


Jacobian Matrix Interval Analysis Test Return Parallel Robot Stewart Platform 
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Copyright information

© Springer-Verlag Wien 2000

Authors and Affiliations

  • J.-P. Merlet
    • 1
  1. 1.INRIAFrance

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