A Method for Calculating Position and Orientation Errors of Industrial Robot

Abstract

The position and orientation errors of the robot end effector are caused by a number of factors such as tolerances in manufacturing and assembly, mechanical transfer errors and so on. On the basis of the robot kinematics and the theory of errors, formulas for calculating the position and orientation errors of the robot end effector are derived. They can be used to analyze the position accuracy and orientation accuracy of various industrial robots.