Abstract: A new way of interpreting the 3D dynamic contouring errors attributed to a multi-axis robot system based on a relaxed performance measure was introduced. Generic contouring error models were ...

Abstract: Kinematic and kinetic performance are important issues in designing multi-degree-of-freedom mechanisms such as robotic manipulators. In the engineering design stage, it is especially important that ...

Abstract: Analytical and graphical performance synthesis tools for multi-DOF mechanisms are developed in the companion of this two-part paper [1]. Various performance indices derived from the Jacobian matrix ...