Robot error model
The forward and inverse error model can be expressed as the following two equations:
[ΔP,ΔR]T=J[Δθi] i=1,2,...N (3)
[Δθi]=J-1 [ΔP,ΔR]T i=1,2,...,N (4)
Where J is Jacobian matrix and J-1 is inverse Jacobian matrix.
For N measurements, we define the fitness function (FF), as:
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