Determination of the Positioning Errors of the Robot Due to the Influence of Misalignments of the Revolute Joints Axes

摘要

In the paper it is analyzed the errors which occur at a point motion situated on a kinematic element generated at the base by a rotational kinematic joint. We have taken in consideration the positioning errors of the revolute real axes of the joints with respect to its ideal position. We have determined the errors which occur in the positioning of a point belonging to the element as well the trajectory deviation produced of this with respect to the theoretical trajectory.