Abstract
The terms resolution, repeatability and accuracy are often used to describe the static positioning and orienting precision of industrial robots. Unfortunately, they are not well defined, and values provided for them in robot specification sheets can be misleading. This paper defines these terms precisely, presents theoretical and experimental information regarding robot positioning phenomena, and in the process outlines a structure for treating the subject that may prove to be useful by standards organizations. Fundamental assertions made in the paper are: (1) in order to provide robot figures of merit (FOMs) that are at the same time well defined, meaningful, practically determined, and simple enough to be of value to average robot users, statistical techniques are required, and (2) the most reasonable and cost effective method for generating the performance database from which the FOMs are determined starts with laboratory testing of certain fundamental robot characteristics and then uses computer simulation of robot kinematics to compute performance quantities under various circumtances.
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