PT Journal
AU Cservenak, A
   Szabo, T
TI Positioning Measurements of Two Industrial Robots
SO Acta Mechanica Slovaca
PY 2015
BP 38
EP 43
VL 19
IS 4
DI 10.21496/ams.2015.030
DE Robot; simulation; measurement; inverse kinematics; Denavit-Hartenberg parameters
AB This paper deals with the positioning accuracies of two industrial robots, i.e., a KUKA KR 15/2 and a Fanuc LR Mate 200iC comparing measurement and modeling. The accuracy measurements are performed by Renishaw XL-80 type laser measurement system. Both robots are Articulated Manipulator (RRR), and their descriptions of Denavit-Hartenberg parameters are very similar. The inverse kinematics of the two industrial robots are also solved and analytic formulae are derived. The measurements are carried out along two perpendicular straight lines and the results are compared.
ER