Abstract
The positioning accuracy of the end effector of a robot manipulator with respect to its workplace has become significantly more important as the number of industrial and commercial processes that require robotic assembly have increased. Various technical approaches have been proposed and/or investigated for increasing the accuracy of the robot’s end effector. It is well appreciated that geometric errors in the kinematic links and Joints of the robot manipulator are obvious contributors to the positioning error of the end effector. This paper develops the analytical assessment of the positioning error of the robot end effector caused by kinematic errors in the link/Joint parameters that describe the manipulator geometry. This assessment is performed for several point-to-point end effector tasks within the robot’s preferred workspace. A kinematic error budgeting program is used to determine the best feasible end effector performance for a given SCARA manipulator based on an error evaluation of the desired versus actual paths for specific link/Joint errors.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
