Kinematic accuracy of a simple open chain by using automatic differentiation

Abstract eng:
The mail idea of this paper is to compute errors in the position and orientation of an end-effector by the efficient way. We have a simple open chain with revolute joints only. The position and orientation is described by means of transformation matrix between the basic and the end-effector spaces. We will use the linear model of errors. According to linear theory we must differentiate this transformation matrix with respect to angle and length chain parameters. This derivation we will to generate efficiently by means of Automatic Differentiation.

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