SPATIAL RESOLUTION OF COMPUTER-CONTROLLED PLANAR MANIPULATORS.

Steffen W. Parratt, Vassilios D. Tourassis

Research output: Contribution to conferencePaper

Abstract

The spatial resolution of a manipulator is an attribute that is currently used to characterize the performance of an industrial robot. The manipulator resolution is defined as the smallest incremental motion of the end-effector. The spatial resolution is not constant; it depends on the geometry of the robot and varies within its working envelope. A computation is made of the resolution (as a function of the joint coordinates) and spatial resolution maps are constructed for three basic planar manipulators.

Original languageEnglish
Pages555-559
Number of pages5
Publication statusPublished - Dec 1 1986

ASJC Scopus subject areas

  • Engineering(all)

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