Dynamic accuracy of robotic mechanisms. Part 1: Parametric sensitivity analysis

The paper is organized in two parts. Part I treats the problem of robot dyn amic accuracy which has been scarcely elaborated in the literature. In this paper the error model of control by means of local feedback loops is given , which represents the initial research results in that field (N. Vesovic, M. Vukobratovic, Mech. Mach; Theory 29 (1994) 415-425). In this paper the e rror model of tracking trajectories using a dynamic control law, was develo ped and presented in detail. By using the inverse dynamics method (IDM) a c ontrol law was formed, into which the robot dynamics model was included and the sensitivity functions, which have served as the basis for the analysis of the variations influence on the dynamic robot parameters of the traject ory tracking accuracy were given. (C) 1999 Elsevier Science Ltd. All rights reserved.