Dynamic accuracy of robotic mechanisms. Part 2: Simulation experiments and results discussion

In Part 1 of this paper the theoretical fundamentals of the robotic mechanisms accuracy using various dynamic control laws were considered. Based on the error model and the adopted control laws, a basis was formed for extensive simulation experiments. In this part of the paper, the simulation conditions were chosen and the criterion was adopted for the analysis and comparison of the sensitivity functions. Conclusions were made based on the previously denned criteria and by that the analysis of the dynamic parameters influence on the trajectory tracking accuracy was carried out.