Estimation of the Accuracy of a Robot Manipulator

Chi Haur Wu, Chung C. Lee

Research output: Contribution to journalArticlepeer-review

7 Scopus citations


In order to select high-accuracy robots for precise assembly tasks, a method for estimating the robot’s accuracy is needed. Based on the developed error model [1]—[3] describing the accuracy of a robot manipulator resulting from the kinematic errors, a statistical estimation procedure for robot accuracy is developed. By calculating the Cartesian errors at many different arm positions in the known world, the robot accuracy can be estimated by using the maximum likelihood estimate for the covariance matrix of these Cartesian errors.

Original languageEnglish (US)
Pages (from-to)304-306
Number of pages3
JournalIEEE Transactions on Automatic Control
Issue number3
StatePublished - Mar 1985

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

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