Help me with robot position error formula

[ramone]

Robot position error

Hi there...

I have a question to state:
I'm working on a project (3R Planar manipulator) and at the final point i have to caluclate (and thus minimize) an error based on position and final angle difference. The error has the formula below:

error=∑[i=1->N](ei^2) + ∑[i=1->N](fi^2)
ei is the position error
fi is the final angle error

does anyone have any idea what ei is ( i meen i have my reference positions at x-y coordinates and so are the measurement positions but i don't know how to state the error formula)....

Thanks in advance...

 

[robin]

Re: Robot position error

i thought you can use SAS software or statisics konwledge to built the math module .

 

[wangyan]

Re: Robot position error

You can use D-H matrix and small dispostion to simulate it.

 

[robot3t]

Robot position error

Of course, it always has some error from calculation. So, we should apply some control algorithms (adaptive, robust,..) to cancel out it. This link is useful for you.
https://www.robot3t.com/index.php?o...-dynamic-control-&catid=47:tutorial&Itemid=76