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《Journal of Shanghai Jiaotong University》 1991-01
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A Research on Kinematic Accuracy for Industrial Robots and Space Mechanism

Zhang Xinghui Ma Peisun  
The paper presents a new method for kinematic accuracy modell-ing in the study of robots and general space mechanism.First,under thecondition of the D-H(Denavit-Hartenberg)movable coodinate system,itdescribes the pose derivation between the ideal mechanism and the real oneand the revised transforming relation between them.Based on the discussion,a simple and clearly defined vector equation of kinematic error for robots,has been derived for practical use by means of space vector,characteristicsof space vector derivation and the transforming relation of the D-H coordinatesystem.A practical application of the error vector equation in the kinematicaccuracy study of the general space mechanism has been demonstrated in de-tail as an example.
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