Dynamic accuracy of robotic mechanisms. Part 2. Simulation experiments andresults discussion

In Part 1 of this paper the theoretical fundamentals of the robotic mechani sms accuracy using various dynamic control laws were considered. Based on t he error model and the adopted control laws, a basis was formed for extensi ve simulation experiments. In this part of the paper, the simulation conditions were chosen and the cr iterion was adopted for the analysis and comparison of the sensitivity func tions. Conclusions were made based on the previously defined criteria and b y that the analysis of the dynamic parameters influence on the trajectory t racking accuracy was carried out. (C) 1999 Elsevier Science Ltd. All rights reserved.