The Influence Analysis of Parameter Errors for Multi-Legged Walking Robot
Because the structural and motion parameters errors, when the robot move in the ideal situation, actual posture of the robot is likely to deviate from its required position. Based on the discussion of forward kinematics, which is calculating the influence of error sources on the posture error of robot, is researched in this paper, and an example is used to explain. The effect of each parameter on posture error can be evaluated by analyzing the results of example. The designer can make different error control method for each parameter according to the influence of them.
J. C. Zou et al., "The Influence Analysis of Parameter Errors for Multi-Legged Walking Robot", Advanced Materials Research, Vols. 317-319, pp. 823-828, 2011