W. K. Veitschegger*, Chi-Haur Wu

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 Scopus citations


The accuracy problem of robot manipulators has long been one of the principal concerns of robot design and control. In the author's previous papers (1983, 1984), a linear model representing the robot accuracy due to the kinematic errors was developed. However, the papers considered only the small errors by ignoring the higher order terms. A more detailed model, one that includes the second-order terms, is presented here. In order to analyze the developed model, a stochastic error model is also developed. The comparison between the linear model and the developed model is analyzed. The comparison results of error envelopes for both models based on the PUMA 560 are plotted. The results provide a means to determine the accuracy of a robot manipulator and to design a more accurate robot in the future.

Original languageEnglish (US)
Title of host publicationUnknown Host Publication Title
Number of pages6
StatePublished - Dec 1 1985

ASJC Scopus subject areas

  • General Engineering


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