Non-kinematic errors in robot manipulators

The ability of a robot manipulator to position its end-effector accurately depends not only on kinematic modeling of the robot but also on the dynamic execution of the transformation between end-effector coordinates and joint coordinates. The authors examine errors associated with various approaches of motion trajectory generation and evaluate them statistically. Two approaches to controlling errors are considered: VAL, which has been developed by them, and resolved motion rate control (RMRC), which is due to D.E. Whitney (1986)