3-D Evaluation of Robot Repeatability Academic Article uri icon


  • This paper presents advances in three dimensional evaluation of robot repeatability measurement. An experiment was setup to analyze the effect of target location on robot repeatability. An error analysis model to determine repeatability based on the robot's kinematic model and known robot parameters was developed. Experimental results indicated that there was significant statistical difference between repeatability at different locations in the workspace and that height of the target point influenced repeatability. Experimental results were in the same tendency of results derived from the error analysis kinematic model. Hence, to determine the optimal target location-there is no need for extensive experimentation, instead only a few target points can be sampled and compared to an error-analysis model.

publication date

  • May 19, 1998