d-effector envelop can be determined, which is essential for the robot off-line programming, obstacle autonomous avoidance, etc.
In most cases, the error distribution should be identified, that is, with known end-effector position error to determine the robot kinematic parameter deviation. It is important for the robot calibration and robot production. Using the interval theory to solve this problem inversely is ongoing.
ACKNOWLEDGEMENTS
The research reported in this paper was supported by China Postdoctoral Science Foundation and the National Nature Science Foundation of China (10072014).
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