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Hi

I wonder if someone could help clarify something for me regarding the pErr output, I can't seem to find any documentation on it in the User's Guide. I originally presumed that it represented the instantaneous position error (i.e. the difference between the calculated coordinate values from RRA and IK) but after comparing the coordinate values manually it seems that this isn't the case.

I'm now assuming that it actually represents the accumulated error (In Radians for Rotations, Meters for Translations), the integral of the difference between the two curves? Would that be correct?

Thanks
Shaun

Hi Shaun,

You are right when you say that there is not much documentation on pErr.
Anyway, I think it is still the difference between the two curves...have you tried to calculate it?

Cheers

Dario