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《Journal of Beijing University of Aeronautics and Astronautics》 1984-02
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ERROR ANALYSES OF THE INDUSTRIAL ROBOTS

Chen Mingzhe Zhang Qixian  
This paper is concerned with the problema about analyses of the kinematic errors and the dynamical errors in industrial robots. A procedure for de er-mining the kinematic errors arising from the tolerances of linkage parameters is presented. The dynamical errors due to the deformations of links are calculated by the kineto-static method and an example illustrating the above procedure is provided.
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