A Formal-Numerical Approach to Determine the Accuracy of a Parallel Robot in a 6D Workspace
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.
KeywordsJacobian Matrix Interval Analysis Test Return Parallel Robot Stewart Platform
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