Kinematic Accuracy of Manipulators in Industrial Systems

A method is proposed for determining the kinematic error in relative manipulation systems when translation and rotation with respect to Cartesian coordinate axes are added. The method is based on differentiation of the coordinates of a specific point within one module in the mobile coordinate system of another module. The differentials of the variable coordinates are approximately replaced by finite increments. The kinematic errors are determined for systems with two or three degrees of freedom.