Titlebook: Kinematic Modeling, Identification, and Control of Robotic Manipulators; Henry W. Stone Book 1987 Kluwer Academic Publishers 1987 algorith

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Prototype System and Performance Evaluation,ype system. This prototype arm signature system has been applied to identify and control seven Westinghouse/Unimation Puma 560 robots... The Puma 560 is a six degree of freedom robot with revolute joints. Evaluation of the arm signature-based control showed consistent improvement of accuracy in seve

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Performance Evaluation Based Upon Simulation,ventional ., the robot design model is used as a basis for kinematic control. In this case, manufacturing errors contribute most to robot positioning errors. In . (S-Model), the correct arm signature model eliminates kinematic errors due to manufacturing. In this case, robot performance is limited b

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