Robustness Analysis of Kinematic Covariance Propagation in Serial Manipulators Available to Purchase

In this paper we show that kinematic errors in serial manipulators propagate by convolution on the Euclidean motion group. When errors are small, covariances describing error probability densities can be propagated in place of explicitly performing the convolution. We investigate the robustness of covariance propagation formulas in the context of individual joint errors that are small, but result in overall end-effector errors that are not necessary small.