September 24, 2017
Propagation of Joint Space Quantization Error to Operational Space Coordinates and Their Derivatives
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
In this paper, we characterize encoder error in a robotic system. Given encoder specifications, robot kinematics, and discrete transfer functions mapping coordinates to their derivatives, we describe the propagation of quantization error on joint space coordinates to operational space coordinates, joint space coordinate derivatives, and operational space coordinate derivatives.
By: Nick Colonnese, Allison M. Okamura