Publications

Kumar, A & Waldron, KJ 1970, 'NUMERICAL PLOTTING OF SURFACES OF POSITIONING ACCURACY OF MANIPULATORS.', Proceedings - OSU Applied Mechanisms Conference (Oklahoma State University).
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A mathematical model has been developed to calculate the expected errors of position and orientation of the hand at any point in workspace, given the expected error of positioning the individual joints of manipulator. The model is used to derive equations, which can be used to plot the contours of expected errors in positioning the hand either in a specified direction or regardless of direction. Because of the highly non-linear characteristics of the equations, they are solved numerically to plot the contours. The parameter perturbation method left bracket 2 right bracket is used in conjunction with the Newton Raphson method to solve the simultaneous non-linear equations.