Measures of positional error for a rigid body

Journal of Mechanical Design, Transactions of the ASME

Volumn 119, Issue 3, 1997, Pages 346-348

  Gupta, K C ^a  

^a UNIVERSITY OF ILLINOIS AT CHICAGO   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

DIFFERENCE EQUATIONS; MATRIX ALGEBRA; MEASUREMENT ERRORS; POSITION CONTROL;

EUCLIDEAN ERROR MEASURES; POSITIONAL ERROR;

ROBOTICS;

EID: 0031232995     PISSN: 10500472     EISSN: None     Source Type: Journal    
DOI: 10.1115/1.2826354     Document Type: Article

References (8)

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2. Gupta, K. C, and Kazerounian, K., “Improved Numerical Solutions of Inverse Kinematics of Robots,” Proc. IEEE Intl. Conf. on Robotics and Automation, St. Louis, 1985, pp. 743-748.
3. Gupta, K. C., and Singh, V. K., “A Numerical Algorithm for Solving Robot Inverse Kinematics,” Robotica, Vol. 7, pp. 159-164, 1989.
4. Kazerounian, K., and Rastegar, J., “A Class of Coordinate and Metric Independent Norms for Displacements,” Proc. ASME Mechanisms Conf., Scottsdale, 1992, DE47, pp. 271-275.
5. McCarthy, J. M., Introduction to Theoretical Kinematics, MIT Press, 1990.
6. Martinez, J. M. R., andDuffy, J., “On the Metrics of Rigid Body Displacements for Infinite and Finite Bodies,” ASME JOURNAL OF MECHANICAL DESIGN, Vol. 117, No. 1, pp. 41-47, 1995.
7. Park, F. C., “Distance Metrics on the Rigid-Body Motions with Applications to Mechanical Design,” ASME JOURNAL OF MECHANICAL DESIGN, Vol. 117, No. 1, pp. 48-54, 1995.
8. Singh, V. K., and Gupta, K. C, “A Manipulator Jacobian Based Modified Newton-Raphson Algorithm (JMNR) for Robot Inverse Kinematics,” Proc. ASME Design Automation Conf, Montreal, 1989, Vol. 3, pp. 327-332.