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Robot, simulation, measurement, inverse kinematics, Denavit-Hartenberg parameters.


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.


Acta Mechanica Slovaca. Volume 19, Issue 4, Pages 38 – 43, ISSN 1335-2393


  Positioning Measurements of Two Industrial Robots


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