Infinitesimal Kinematics of Serial-kinematics Machines


To clear up an interrelationship between the nominal displacements and their deviations in the accuracy-related formulae, the links of the 2-DOF manipulator are renumbered as is shown in Figure 10.1. In these terms, the manipulation matrix, Eqs. (4.7), becomes

10.1Error propagation: serial-type robots
10.2Error Propagation: Lathe
10.3Error Propagation: Multi-Axis Machine Tools
10.4Structural Jacobian matrix of serial-kinematics systems
10.5Diagnostics procedure: methodological example

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