Table 4 Error analysis of the proposed geometric method
Robot configuration | Angular interval (rad) | Total points in workspace | Points reached by link configuration | Percentage reachability (%) | Error threshold (mm) |
|---|---|---|---|---|---|
Two links, 1 Twist | 0.01425 | 194,481 | 192,939 | 99.21 | 1 |
Four links, 2 Twist | 0.3 | 172,338 | 88.61 | 1 | |
193,507 | 99.49 | 3 |