An overview is given of the existing work on robot calibration, and some of the basic issues
are identified in calibration and improvement of robot precision. Modeling, measurement …

A high performance, high speed robotic arm must be able to manipulate objects with a high
degree of accuracy and repeatability. As with any other physical system, there are a number …

There is a considerable amount of literature dealing with robot calibration. A classification
hierarchy of calibration procedures is discussed which groups robot calibration by objective …

Important robotic tasks could be effectively performed by powerful and accurate
manipulators. However, high accuracy is generally difficult to obtain in large manipulators …

This paper presents a general theory to determine the sensitivity of tolerances to the
performance quality of mechanisms and a technique to identify a robust design, which is the …

A systematic methodology to calculate the end-effector position and orientation errors of a
robotic manipulator is presented. The method treats the physical error sources in a unified …

In our previous research, we experimentally implemented and evaluated the effect of
dynamics compensation in model-based control algorithms. In this paper, we evaluate the …

This paper presents the tolerance specification of robot kinematic parameters using the
Taguchi method. The concept of employing inner and outer orthogonal arrays to identify the …

A method is presented for calibration of a robot to correct position and orientation errors due
to manufacturing. The method is based on the shape matrix robot kinematic description …

Numerical Plotting of Surfaces of Positioning Accuracy of Manipulators Page 1 Mectmntsrn and
Machine Theory Vol. 16. No. 4, pp. 361-368, 1961. (X)94-114X/81/040~161~.00/0 Printad in …