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《Journal of Shanghai Jiaotong University》 1990-01
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The Affection of Clearance in Joints to the Error at End Effector of Robot

Huang Yuzhong Liu Wenying Xie Li  
In this paper the inpluence of clearance in joints on the accuracyof robot is analyzed.The relations between the errors of the four parametersof Denavit-Hartenberg coordinate and the clearance in a joint are desribed,and a series of general formulas are given.Based on these general formulasthe error at the end effector of the robot is obtained.
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