Engineering Mechanics

International Conference

Proceedings Vol. 9 (2003)


ENGINEERING MECHANICS 2003

NATIONAL CONFERENCE WITH INTERNATIONAL PARTICIPATION
May 11 – 15, 2003, Svratka, Czech Republic
;
Editors: Jiří Náprstek and Cyril Fischer

Copyright © 2003 Institute of Theoretical and Applied Mechanics, Academy of Sciences of the Czech Republic, v.v.i., Prague

ISBN 80-86246-18-3 (printed, Extended Abstracts)
ISSN 1805-8248 (printed)
ISSN 1805-8256 (electronic)

list of papers scientific commitee

Kinematic accuracy of a simple open chain by using automatic differentiation
Němeček M.
pages 220 - +6p., full text

The mail idea of this paper is to compute errors in the position and orientation of an end-effector by the efficient way. We have a simple open chain with revolute joints only. The position and orientation is described by means of transformation matrix between the basic and the end-effector spaces. We will use the linear model of errors. According to linear theory we must differentiate this transformation matrix with respect to angle and length chain parameters. This derivation we will to generate efficiently by means of Automatic Differentiation.


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