Assessment of Accuracy of Robots in Relation with Geometrical Tolerances in Robot Links

Summary Absolute accuracy of robots has been plaguing designers of industrial robots since the beginning of the robot era. Several models of robot errors have been developed recently, but non is considering all types of errors occuring in the links and joints of robots. Therefore, a new model taking in account all errors of position and orientation at the end effector as a function of the geometrical errors in the links was developed. A graphical program enables a coloured mapping of the errors in the whole workspace of the robot for typical sets of errors in the links. The relation between the error parameters in the model and the standardised definition of geometical tolerances is established.

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