Modeling of the orientation repeatability for industrial manipulators

In this paper, a new method for the estimation of orientation repeatability index is proposed for industrial manipulator robots. First, we compute orientation repeatability in different locations of the workspace using the experimental covariance matrix and the stochastic ellipsoid modeling. Then we display experimental results about the direct measurement of orientation repeatability for an industrial Samsung robot in different workspace locations and with different loads. The two proposed procedures are compared. We analyze the incidence of workspace location on orientation repeatability and bring additional results to the existing literature.