RT Journal Article
SR Electronic
A1 Cservenák, Ákos
A1 Szabó, Tamás
T1 Positioning Measurements of Two Industrial Robots
JF Acta Mechanica Slovaca
YR 2015
VO 19
IS 4
SP 38
OP 43
DO 10.21496/ams.2015.030
UL https://www.actamechanica.sk/artkey/ams-201504-0006.php
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.