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A R T I C L E I N F O A B S T R A C T Article history: Received: 08 November, 2020 Accepted: 28 February, 2021 Online: 10 March, 2021 Robotic arms or industrial robots are a machinery that is widely used in the medical and military industries because it is a flexible, highly accurate and reliable. It is very necessary to work in complex tasks requiring more accuracy than humans can work. This paper presents an estimate of the standard uncertainty of 6 DOF robotic arm, KUKA KR5 ARC robot, and describes the experimental setup of a laser tracker to measure the position of the reflector mirror installed on a robot end-effector. This research describes the method of testing and experimenting to calculate the errors of each joint by using the inverse kinematic model, calculating the actual angle of their joint in comparing it with a nominal joint angle. The Jacobian matrix was applied to calculate the robotic position error. The calculation of uncertainties of each joint was conducted by using the Jacobian matrix to calculate the uncertainty in the robot and the four points testing were designed for estimating the error value and uncertainty value. The results showed that the error and uncertainty of each test point were within the range of the average error and the average uncertainty of the robot specification. The position errors and the position uncertainties of all test points within the robotic moving space were calculated and estimated by the proposed method and model. Therefore, the position error tolerance of each required moving target point must be smaller than the position errors and the position uncertainties that are estimated from this proposed model. These estimated robot linear position end effector uncertainties were used to compare and adjust the robotic path based on the required robotic position target and tolerance control.

The Analysis of Standard Uncertainty of Six Degree of Freedom (DOF) Robot