Statistical measure and characterization of robot errors

For the accurate control and implementation of robots in an integrated manufacturing environment, a knowledge of the position errors of the end effector is important. The authors present a framework which can be used to characterize the position errors of robot manipulators. The objectives are to study the statistical properties of the errors and to characterize their distribution over the work space. The implications of the position-error field of a robot in its design and applications are also discussed