Accuracy Assessment of Industrial Robots

Abstract

A general review of the previous works conducted in the area of accuracy assessment and analysis of industrial robots is presented. In particular, attention is concentrated on the positioning accuracy of modern robots that utilize off-line programming technique. A parameters, and thereby improving the positioning accuracy of the end-effector is considered. The technique utilizes the absolute position of the end-effector and the joint encoder values at a discrete robot configurationse Finally, a solution is proposed for the inverse kinematic problem based on an iterative procedure.