A review of recent developments in robot metrology

Abstract This paper provides a review of various measurement techniques, and testing methods, conditions and specifications (TMCS) for determining performance of a robot. First, the principles of eperation, accuracy and repeatability of measurement systems, and any special features are summarized. Then, the TMCS proposed by the Robotic Industries Association, the International Organization for Standardization, a Japanese standard testing proposal, and several individuals are reviewed, and future research needs are identified.

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