Error analysis and error modeling of manipulator based on Huston method
HE Jia1，2, TIAN Xue-Guang1，2, ZHANG De-Long1, TIAN Xing-Zhi1
1.Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033, China;
2.Graduate School of the Chinese Academy of Sciences, Beijing 100039, China
Abstract Based on Huston method of multi-body system theory, this paper presents error modeling of 4-DOF manipulator. Transformation matrix between two adjacent bodies with errors was described. The authors summarized all factors which contributed to error and calculate comprehensive error and systematic error by MATLAB software. The results offer theoretical basis to error distribution and error compensation. The error modeling and error analysis method both are useful for multi-DOF motion system．
HE Jia, TIAN Xue-Guang, ZHANG De-Long, TIAN Xing-Zhi. Error analysis and error modeling of manipulator based on Huston method. Chinese Journal of Engineering Design, 2010, 17(6): 439-443.
