@article{shiakolas_accuracy_2002,
	title = {On the {Accuracy}, {Repeatability}, and {Degree} of {Influence} of {Kinematics} {Parameters} for {Industrial} {Robots}},
	volume = {22},
	issn = {0228-6203, 1925-7082},
	url = {https://www.tandfonline.com/doi/full/10.1080/02286203.2002.11442246},
	doi = {10.1080/02286203.2002.11442246},
	abstract = {In this article, we discuss industrial robot characteristics of accuracy and repeat.ability. The factors that affect these characteristics are ident.ified, and an error tree is developed. Subsequently, the accuracy and repeatability are hlvestigated utilizing the· Denavit-Hartenberg kine.mat:ics parameters, the ho.mogeneous transformation matrix, and the differential transforrna,tion rnatrLx theory, and corresponding fileasures a.re developed. The forrnulation indicates that the influence Inatrices associated with. joint variables are consta.nt. A new Inca,sure ca.lled degree of irrfll1enceis established t.hat qualitatively assesses .the relative contribution of ea.ch kinelnatic pa.ralneter va.riation to the accuracy and repea.ta.bility of rigid Inanipulators. rrhe developed forI'folulation provides for easy evaluation of the degree of influence measures for rigid manipulators in either nU111erica.I or symbolic forn1. A numerical example is included in which the degree of influence of the kinematics paralueters for an articulated luanipulator, PUI{\textbackslash}1l{\textbackslash} 560{\textasciitilde} are evaluated and analysed.},
	language = {en},
	number = {4},
	urldate = {2018-07-23},
	journal = {International Journal of Modelling and Simulation},
	author = {Shiakolas, P.S. and Conrad, K.L. and Yih, T.C.},
	month = jan,
	year = {2002},
	pages = {245--254},
}

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