Measurement of the Accuracy of a Puma 560 Industrial Robot

  • D. A. Hornshaw
  • A. J. Day


In this paper, industrial robot accuracy and repeatability are introduced and discussed, and methods for assessing these performance parameters are described. Using a direct measurement system, the position repeatability, relative and absolute accuracy of a PUMA 560 industrial robot have been measured. Experimental results indicate that position repeatability of the robot is good, up to ± 0.04 mm, but relative accuracy can be worse than 1.5 mm depending significantly on the position of the end effector within the working volume. Absolute accuracy is difficult to measure but can have an error up to 10.7 mm. Theoretical results from a forward kinematics analysis with introduced errors indicates that joint errors can generate significant position errors, up to 2.5 mm at the end effector for a 0.1° error in joint angles 1, 2 and 3.


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Copyright information

© Department of Mechanical Engineering University of Manchester Institute of Science and Technology 1993

Authors and Affiliations

  • D. A. Hornshaw
    • 1
  • A. J. Day
    • 1
  1. 1.University of BradfordUK

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