PERFORMANCE ANALYSIS OF SIX AXIS INDUSTRIAL ROBOT

Mohamad Firdhaus bin Mohamad Lajis

Faculty of Manufacturing Engineering,
Universiti Teknikal Malaysia Melaka, Hang Tuah Jaya, Melaka
Phone: 0129523024, Email: mohamadfirdhauslajis@yahoo.com
An industrial robot has being defined by ISO as an
automatically controlled, reprogrammable, multipurpose
manipulator programmable in three or more axes. An
industrial robot also can be defined as a manipulator
designed to move materials, parts and tools, and perform a
variety of programmed tasks in manufacturing and
production settings. Industrial robots have reshaping the
manufacturing industry. They are often used to perform
duties that are dangerous or not suit for human workers.
The industrial robot is a good fit for many applications.

Abstract This project analyzes the performance of a six

axis industrial robot which has to analyze the accuracy and
repeatability as the calibration of six axis industrial robots.
This project focuses on finding the accuracy and
repeatability of a six axis industrial robot by using laser
interferometer. This project also analyzes how repeatability
and accuracy affect the performance of the industrial robot
using two variables which are loads and distances. The
Renishaws Laser Interferometer System had been used as
a tool to measure the accuracy and repeatability of the
COMAU robot. This project had obtained the successful
result where the objectives of the project have been
achieved. The laser interferometer has been given the value
of the accuracy and repeatability to be analyzed and had
shows that the COMAU robot has good accuracy and
repeatability when compared with manufacturer
specification. In addition, the loads and distance factors had
shown results which indicate affect the accuracy and
repeatability of the robot.

The performance capability is now still being the

subject that being study to improve the industrial robot for
reduces cost and increase productivity. The performance of
the industrial robot is being measure in term of robots
accuracy, repeatability, exchangeability, speed, cornering,
warm-up drift, etc.
This project will research about the robot performance
in term of accuracy and repeatability only. Also, this
research will cover the method that recently used in
measuring robot performance.

Keywords Industrial Robot, Robot Calibration, Laser

Interferometer.

1.1 Problems Statement

I. INTRODUCTION
Robots have been used widely in industries to reduce
human factor, increase productivity and shorten the cycle
time to produce a product. However, there is a catch in
dealing with the industrial robot. Focusing on the six axis
of industrial robot, some problems had been identified.

In manufacturing world nowadays, the presence of the

robotics system is became the ordinary situation. But, the
term robot was being firstly used decades ago in a theater
performance of Czechoslovakian dramatist, Karel Capek.
His play; which performed on October 9, 1922 called
R.U.R: Rossums Universal Robot had use the word
robota which mean work or slave laborer in Czech
language [1].

Repeatability and accuracy are two important term in

measuring the performance of the robot. However,
repeatability is much important compare with accuracy.
This is because the robot had being taught (programmed) to
do a job and will repeat the same work. But, due to some
factor, the positioning error had occurred and will affect the
production performance. This situation will bring the
problem on other performance specification which is
accuracy.

According to the Robot Institute of America, the robot

being defined as a re-programmable multifunctional
manipulator designed to move material, parts, tools, or
specialized devices through variable programmed motions
for performances of a variety of tasks [2]. From the
definition, the most important features of the robot system
are the programmable and re-programmable. These features
means a robot have the degree of intelligence. Robots were
described in anatomical language: they had arms, wrists,
hands, fingers, and, brains. A robot manipulator system
consists of links, joints, actuator, sensors, and controllers.

One of the problems was the precision of the industrial

robot will be lessening when it performs the same task over
and over again. In other word, the six axis industrial robot
will have problem when it comes to the repeatability task.
The accuracy and precision might be less as the error
become bigger as the robot repeatedly doing its task. For
example, the first task was done perfectly by the 6 axis
robot but as it gets to the 101 production task, the result
may become vary from the first one.

The robotics system being use in manufacturing

become important to transform raw material into finished
products in large scale. The field of robotics may be more
practically defined as the study, design and use of robot
systems for manufacturing.

As being added in English vocabulary, robots have

being defined as [3]:

The other problem is as it repeating the required task in

the industry; the robot will generate heat and this will affect
the performance of the robot. The joints of the robot will
have large possibilities to accidentally glitch as the inertia
of each joint will add some unwanted external forces to the
robot. For instance, as the robot move forward and
backward performing the given task, there will be some
external forces developed. This will obviously affect the
robot where the error in performing the task becomes larger
as the heat and the unwanted external forces increase.

Whatever robot being defined, the keyword is

programmable. The robot had already being programmed
to do task over and over, repetitively. But, it is important to
confirm that its return to the exact position as same as the
task before that repeated or are they accurately done each
of every task.

1.2 Objective
The aims of this project are to analyze the performance
the 6-axis industrial robot through these objectives:
1.
2.
3.
4.

2.2 Industrial Robot

To do literatures study on the existing methods on

measuring the performance of the industrial robot.
To investigate accuracy of 6-axis COMAU robot
using laser interferometer.
To investigate repeatability of 6-axis COMAU
robot using laser interferometer.
To analyze how repeatability and accuracy does
affect the performance of the 6-axis COMAU
robot.

An industrial robot is an automatic, servo-controlled,

freely programmable, multipurpose manipulator and with
several axes for the handling of the work pieces, tools or
special devices. Variably programmed operations make
possible the execution of a multiplicity of tasks [4].
Industrial robot has also being called as a robotic arm
because of the common look of the industrial robot is like
arm with waist, shoulder, elbow and wrist.
In industrial world, some of the jobs are not possible
for human to perform because of the hazardous of the job.
As example, casting and welding job with the extreme
temperature environment that would be dangerous for
human. The robot presence also has to do with the boring
and dumb repetitive task in the industrial.

II. LITERATURE REVIEW

2.1 Robot
Each country had their own definition and developed
own idea on what does it takes to be define as a robot. The
Robotics Institute of America (RIA) had officially
recognizes four classes to define as a robot [2]:

The presence of the robot in helping human or reduce

human job. Hence many jobs in factories which were
traditionally performed by people are now robotized. This
has led to cheaper mass-produced goods, including
automobiles and electronics industries.

Handling devices with manual control.

Automated handling devices with predetermined
cycles.
Programmable, servo-controlled robots with
continuous of point-to-point trajectories.
Also acquires information from the environment
for intelligent motion.

Industrial robot which is part of the whole idea in

automation had fascinates the public in late 1980s even the
first industrial robot has already built in 1961 by Unimation
which George Devol and Joseph Engelberger act as the
founders with the robot that being called Unimate [5].

But it is different for the Japanese Industrial Robot

Association (JIRA) which had defined robot by [2]:

To perform boring or repetitive work.

To perform subhuman or dangerous work.
To perform work which void of dignity or promise
of improvement.

International
Standard
Organization,
under
ISO/TR/8373-2-3 had defines an industrial robot as an
automatically controlled, reprogrammable, multipurpose,
manipulator programmable in three or more axes, which
may be either fixed in place or mobile for use in industrial
automation applications.

Manual - Handling Devices actuated by an

operator.
Fixed Sequence Robot.
Variable-Sequence Robot with easily modified
sequence of control.
Playback Robot, which can record a motion for
later playback.
Numerical Control Robots with a movement
program to teach it tasks manually.
Intelligent robot: that can understand its
environment and able to complete the task despite
changes in the operation conditions.

Isaac Asimov who is the science fiction writer had line

the Three Laws of Robotics [6]:

A robot may not injury a human being or through

inaction, allow human to come to harm.
A robot must obey the orders given it by human
being except where such orders would conflict
with the First Law.

Besides the internal factors, accuracy also affected by

external factor like torque moment which become
important on wrist with fully extended configuration,
accuracy decrease within the work volume. Accuracy is
improved if the motion cycle is restricted to a limited work
range, while it decreases if the load being carried by the
robot becomes important. Position accuracy depends on the
position in the workspace envelope. For this reason, it is
difficult to do robot off-line programming without using
sensors

A robot must protect its own existence as long as

such protection does not conflict the First and
Second Law

The industrial robot is a good fit for many applications.

The earliest applications of the robots in industries are
material handling, spot welding and spray painting where
the jobs are hot, heavy and hazardous but now the
application being spread to other applications as assembly
operation, palletizing and material handling, dispensing
operation, laboratory applications, water jet cutting and
work cell.

The sources of position error that affect accuracy can

be grouped into four categories:

2.3 Accuracy

Digitization error
Calibration error
Deterministic kinematics error
Stochastic kinematics error

Figure 2.1: High Accuracy, but Low Precision [7].

Figure 2.3: Accuracy in Normal Distribution [9]

Figure 2.2: High Precision, but Low Accuracy [7].

Figure 2.3 had differentiated and define the accuracy

and precision graphically. Precision is usually characterized
in terms of the standard deviation of the measurements,
sometimes called the measurement process's standard error.

Generally, accuracy is the degree of veracity (exact)

while in science term the accuracy is the degree of
conformity of a measured or calculated quantity to its
actual (true) value [7]. As in the figure, in the middle is the
target point while the black dot is the bullet mark. In Figure
2.1, four bullets almost hit the target point but those bullets
not neighboring (close) to each other. While in Figure 2.2
shows the four bullet hit far from target area but close to
each other.

2.4 Repeatability
Repeatability can be defined as the variation of
measurements taken by an instrument on the same item and
under the same condition or task. A measurement may be
said to be repeatable when this variation is smaller than
some agreed limit. In robotic field repeatability is the
capability of the robot to return in initial or programmed
position repetitively in the work cell. Generally, the robots
being taught for the required location of the gripper (arm)
by using teach pendant or other programming. Then, the
repeatability specified how well the robot can return to the
taught point on each subsequent cycle of the program
execution. The best repeatability of the assembly robot is
0.0005 inches [10].

Its mean that the accuracy is the ability of the robot

reach the recommended position precisely. It is actually
refer to the position of the wrist to point at the desired
target within the work envelope. Robot accuracy depends
on robot technology and how close the control increment
can be defined for each joint motion. In robotics field, the
term always confused with resolution and repeatability.
The final accuracy of a robotic system depends on its
mechanical inaccuracies, the computer control algorithms
and the system resolution. The mechanical inaccuracies are
caused mainly by gap in the manipulators joints and
bending of the links. The gap frequently exists in gear
mechanisms, in lead screws, and in actuators of hydraulic
drives [8]. The minimization of the link bending is the main
design requirement for the link, as any deflection of the
link due to the load at the robot's end causes positional
errors.

According to the Guidelines for Evaluating and

Expressing the Uncertainty of NIST Measurement Results,
repeatability conditions include:

The same measurement procedure

The same observer
The same measuring instrument, used under the
same conditions
The same location

beams by only 180 shifts the interference from a

maximum to a minimum. This makes interferometers
sensitive measuring instruments for anything that changes
the phase of a wave, such as path length or refractive index.
Four types of interferometer are:

Repetition over a short period of time.

Research made by Y. Koren [11] had defined the term

repeatability as a statistical term that associated with
accuracy; it describes how a point is repeated. In the
research told that if a robot joint is instructed to move by
the same angle from a certain point a number of times, all
with equal environmental conditions, it will be found that
the resultant motions lead to differing displacements
(Figure 2.4).

Although a target is always missed by a large margin,

if the same error is repeated, then the repeatability is high
and the accuracy is poor. Repeatability does not describe
the error with respect to absolute coordinates. System
repeatability is the positional deviation from the average of
displacements.

Michelson Interferometer.
Mach-Zehnder Interferometer.
Sagnac Interferometer.
Fabry-Perot Interferometer.

III. METHODOLOGY
3.1 Project Tools
Project tools are the equipment that will be use in order
to finish the project. The project tools for the project
analysis are:

Most robot manufacturers provide a numerical value

for the repeatability rather than the accuracy of their robots.
This is because the accuracy depends on the particular load
that the gripper carries. A heavier weight causes larger
deflections of the robot links and larger load on the joints,
which degrade the accuracy. [11].

Computer with QuickViewXL software

COMAU robot
XL80 Renishaw Laser System
Loads : 10 N, 30 N and 50 N

3.2 Personal Computer

Minimum computer requirements to provide the
QuickViewXL software:

Windows XP
1 GHz processor and 256 MB RAM
Minimum Screen resolution 1024 x 768
pixels.
CD-ROM drives for software installation.
USB port

Figure 2.4: Example of Representation of Resolution,

Accuracy, and Repeatability of a Robot Arm [11].

In industries, the most important for the robot

application is repeatability rather than accuracy. This is
because it is important either the robot can do the task as
same as being taught without off target.

3.3 COMAU Robot

2.5 Laser Interferometer

Interferometry is the technique of interfering two or
more waves which is used to detect differences between
them. Its works because two waves with the same
frequency that have the same phase will add to each other
while two waves that have opposite phase will subtract
[12]. Typically, in an interferometer, a wave is split into
two (or more) coherent parts, which travel different paths,
and the parts are then combined to create interference.
When the paths differ by an even number of halfwavelengths, the superposed waves are in phase and
interfere constructively, increasing the amplitude of the
output wave. When they differ by an odd number of halfwavelengths, the combined waves are 180 out of phase
and interfere destructively, decreasing the amplitude of the
output. Thus anything that changes the phase of one of the

Figure 3.1: SMART NS.

SMART NS is the COMAU family of robots designed
to address applications such as light-duty handling and arc
welding. Axis movements are driven by brushless motors,
while motion is only transmitted via mechanical gear
4

reducers. The main robot fittings include a specific welding

dressing, an internal pneumatic line with upper connection
on the back of the forearm, wiring that comprises a service
line with a connector on the upper plate next to the
pneumatic connection, flat surfaces and threaded holes on
the upper part of the forearm that can be used to assemble
fixtures (servovalves, transformer, etc.)

4.1 Introduction

3.4 Renishaws Laser Interferometer System.

This project is about to measure the accuracy and the
repeatability of the COMAU robot. The design of the
Renishaws Laser Interferometer System is based on this
established and proven method. So, by using laser
interferometers, the process employs a non-contact method
to measure slight displacements and vibrations on the
object's mirror reflection.

Chart 4.1: Experiment Flow.

4.2 Experimental Set Up
Two variables that may effect the performance of the
robot being identified and will be the main purpose of the
experiment which are distance and load. So, the experiment
has being set into three distances; 500 mm, 750 mm and
1000 mm in linear movement where at each distance the
robot will carry four different types of load. The loads are
10N, 30N, 50N and without load as the comparable value.

Figure 3.2: Renishaws Laser Interferometer System.

Generally, the wavelength of laser change can see after
the observed object had move. Through the concept of
basic wavelength and reflection, it can be applied into this
project to observe the robot position. Its indirectly had
measure the accuracy of the robot through their position.
Robot tool can be used as the observed object during the
robot task. So, if there any slightly change of the position,
the laser can detect it.

So, there are 12 sets of experiment has been conducted

where each had been repeated 30 times for repeatability
measurement and has taken average 25 minutes 22 seconds
(including the time for set up the load).
Table 4.1: Sets of Experiment Conducted.
Load

This laser is available to interface with many of

todays machine controllers including:

0N

10 N

30 N

50 N

Distance

Fanuc OM and OT.

Fanuc 10 - 12, 15, 16, 18, 20 & 21.
NUM 750, 760, 1060.
Mazak M2, M32, M PLUS.
Siemens 810, 810D, 820, 840, 840C, 840D, 850,
880.
Acramatic 2100.
Cincinnati A850, A850SX, A950.

500 mm

750 mm

1000 mm

4.2.1

COMAUs Set Up.

For this experiment, the robot will carry out the simple
linear movement on x-axis as a task which had being
divided into three distances; 500 mm, 750 mm and 1000
mm. In considering the ability of the XL80 Renishaws
Laser System which need 15 seconds to record the constant
data, the robot need to delay in point A and B.

IV. EXPERIMENTAL SET UP

Figure 4.1 shows the linear movement of the robot

where J is the original movement of the robot repeating 30
times while K is the movement adjusted to suit with XL80
Renishaws Laser System.
5

Figure 4.1: Illustrative Linear Movement of Robot.

Figure 4.4: XL80 Renishaw Laser System [13].
In K movement, the robot has start at point A and
delay 15 seconds before proceed to point B and delay 15
seconds there too. After that, the robot will go to the point
O where it is 4 mm behind the point A. In that point the
robot has to delay 5 seconds. By the way, at this point the
laser system did not record the reading because its not the
measured point. Its being program to suit the laser system
which has being set to measure in unidirectional in which
the data being record from A to B.

As shown in Figure 4.4 is arrangement of the laser

system by Renishaw. The laser has to be set linearly and
uninterrupted to make sure the device can read the
wavelength. The XL80 is connected to the computer where
QuickViewXL software will record the data but in order
to save the data, the robot have to give 15 seconds to
software finish saving. This means that the robot has to
delay the movement in 15 seconds. In addition, the XC80 is
use to record the environment data that may cause the error
on the robot movement.

Figure 4.2: The X, Y and Z Axis of the COMAU Robot.

4.2.2

XL80 Renishaws Laser System Set Up.

Figure 4.5: XL80 Renishaws Laser System Set Up.

The XL-80 Renishaws Laser System consists of

measurement optics, XC80 with temperature sensor, USB
port and computer with QuickViewXL software. The
XL-80 Renishaws Laser Interferometer System is very
accurate and sensitive, so it requires a perfect alignment of
the laser from source to the measurement optics as being
shown in Figure 4.3.

Figure 4.5 shows the set up of the XL80 Laser System

where the laser being aligns linearly from laser source to
the measurement optic. At the robot there is measurement
optic being attached by using magnet. The table being used
to placed second measurement optic that also being
attached by magnet.

Figure 4.3: Laser and Measurement Optic Alignment.

Figure 4.6: The XC80 Set Up.
6

Table 5.1: Initial Environment Data

While in Figure 4.6 shows the set up for XC80 and two
sensors which first sensor being attached at the robot and
the second is being attached at the table by magnet. The
data from XC 80 will be sent to the computer to be record.
4.2.3

Loads Set Up.

Other variable for the experiment purpose is the load

factor; to find whether the load affects the accuracy and
repeatability of the robot. The experiment is conducted
with load of 10 N, 30N and 50 N have being put at the
robot. Due to the gripper of the robot is being removed in
order to place the laser interferometer measurement optic
there is a problem occurs on how to place the load.

Table 5.2: Final Environment Data.

Figure 4.7: The Load Position.

To overcome the problem, the load had been attached
at the fifth joint of the robot as shown in Figure 4.7 where
the load being clipped by using the F-clipper. So, the Fclipper is included as the load and being used in all
experiment. Even the robot can lift until 16 kg (160 N) but
the clipper can only grip the 50 N of load. If the extra
clipper being use to hold other load as example 70 N of
load, it may effect the analysis because the other loads (10
N and 30 N) use only one clipper.
5.2 Repeatability and Accuracy Data.
The data that captured by the XL80 Renishaws Laser
Interferometer System is recorded by the QuickViewXL
software. The software shows the value of the repeatability
and accuracy for the COMAU robot.

V. RESULT AND ANALYSIS.

Through the experiments that been carried out, results
have been gathered and managed. Result has being shown
in tables and graphs.

5.2.1
5.1 Environment Data

Repeatability

As shown in Table 5.3, is the value of repeatability that

has being arranged. The repeatability value is calculated
using this equation:

These data is captured by using XC80 and recorded by

QuickViewXL software. The data arranged in the table is
according to the turn that experiment being held which
mean that the experiment for load 0 N and distance 500
mm going first as shows in Table 5.1.

(1)
N = No. of Experiment, 30
xi = Experiment Reading
= Mean

Table 5.3: Repeatability Data

5.2.2

Repeatability (micrometer)

Repeatability vs Distance

Accuracy

The data that being captured by the laser had being

calculated by using this formula:

4
3.5

y = 0.0023x + 0.8816

3
2.5
2
1.5
1
0.5
0
400

500

600

700

800

900

1000

1100

Distance (mm)

Graph 5.1: Repeatability vs Distance

While in Graph 5.2 shows the curve when the
repeatability is higher at loads 10 N and decreased as the
load increased. However, the linear line shows that the
repeatability decreased when the load being added. The
line has regress and cross at point 2.7841 m when the
load is zero. So, the repeatability is better as the load
increased

(2)
N
= No. of Experiment, 30
xi
= Actual Reading
xcommanded = Target Value
The calculated accuracy value has being arranged in
Table 5.4 and the average value of each experiment has
been calculated.

Repeatability (micrometer)

Repeatability vs Load

Table 5.4: Accuracy Data

3
2.5
y = -0.0089x + 2.7841

2
1.5
1
0.5
0
0

5.3

10

20

30

In developing the graph for repeatability and accuracy

by using the Microsoft Excel, the linear line had been
constructed to see the correlation of the repeatability and
accuracy against distance and load. The equation that has
being used is:
y = mx + C

40

50

60

Load (N)

Data Analysis

Graph 5.2: Repeatability vs Load

Graph 5.3 shows the correlation between accuracy and
distance in linear line. From the graph, the accuracy at zero
distance is 346.67 m. In theory, it is suppose to have zero
accuracy as the robot did not move but its not by
calculation. According to the graph, the accuracy was
increased as the distance increased. Its mean that the robot
less accurate as the distance increased.

(3)

Y = value of y-axis
X = value of x-axis
m = gradient
C = point of line crossed at the axis

Accuracy vs Distance

Accuracy (micrometer)

By using this equation, the repeatability graph against

both distance and load being show is Graph 5.1 and Graph
5.2. In the graphs, linear line and the equation also
included.
The linear line had the gradient of 0.0023 and had
crossed at value of 0.8816 m when the distance is zero.
Which mean, the forecast error of the repeatability when
the distance is zero is 0.8816 m. So, based on the Graph
5.1, the line shows that the repeatability is increase as the
distance increase which means the COMAU robots
repeatability is worst as the distance increased.

1100
1050
1000
950
900
850
800
750
700
650
600
550
500
400

y = 0.5829x + 346.67

500

600

700

800

900

1000

Distance (mm)

Graph 5.3: Accuracy vs Distance

8

1100

1200

run more experiment to collect more data. In example, for

repeatability, its being suggested to add more load like 70
N, 90 N and 120 N as the payloads for the COMAU robot
is 16 kg (160 N).

Accuracy (micrometer)

Accuracy vs Load
789
788
787
786
785
784
783
782
781
780

In addition, the distance can be expanding to longer

distance to see the maximum value of error. The
experiment that has being run only takes the linear
movement on x-axis. So, the value of repeatability and
accuracy only determine at x-axis.

y = -0.0914x + 785.92

10

20

30

40

50

60

As suggestion, the experiment in the future should be

run including the y-axis and z-axis where all three axis
being measured. Other then that, being suggested that the
movement as the unidirectional being change to
multidirectional where the point to measure the
repeatability is various. This is because its useful in order
to do the positioning.

Load (N)

Graph 5.4: Accuracy vs Load

While in Graph 5.4, shows the sinusoidal curve which
the value of accuracy is decreased from 787.9213 m to
781.843 m when the robot carried 10 N loads from none
before. But, it had increased when the loads being added.
By the way, the linear line had different expression. The
line shows that the accuracy decreased as the load
increased. The value of accuracy is 785.92 m if the load is
zero shows a regression. As the conclusion, the robot is
more accurate if more loads being carried by the robot.

The XL80 Renishaws Laser Interferometer System

can integrate with certain robot or machine in order to
correct the error that faced by the robot. So, if possible to
analyze the 6-axis industrial robot that can be integrated
with the laser system which means the robot can correct
itself if the error occurred from the task given.

VI. DISCUSSION
VII. CONCLUSION
As shown in the graphs of repeatability and accuracy,
the distances and loads play the important role in order to
obtained good repeatability and accuracy. For repeatability,
the correlation line had concluded that the robot less
repeatability as longest distance the robot tool goes. While
different expression with load where the correlation line
shows that the repeatability of the robot is good as the loads
increased. This means that the repeatability get better as the
loads carried by robot is increase.

There are many factor that can affect the performance

of the robot especially repeatability and accuracy. It could
come from interior factor or maybe exterior factor. The
interior factor is the robot handicap such as the joint error
while exterior factor is the disturbance other the robot like
the load.
Base on the experiment, the COMAU robot shows well
performance in repeatability and accuracy. This is because
the value of repeatability that have been obtained from the
experiment is still under the value which specified by the
manufacturer which is 0.05 mm if compared with
experiment value which is 0.001 mm to 0.003 mm.

The value of accuracy for distance 500 mm is 591.801

m and had increased 284.7183 m which became
876.5193 m for distance 750 mm. But, its only increased
6.7415 m when the robot takes distance of 1000 mm as a
task. However, the graph had stated that the robot less
accurate if the distance longest.

For this type of robot, the error of their accuracy is still

acceptable since the robot are not used for micro task as
micro robot that use in electronic field which need to move
accurately in order to place electronic component. So,
based on the task that gives to the COMAU robot which
include palletizing, welding and deburring, the value of
accuracy which around 591.801 m (0.5918 mm) to
883.2608 m (0.8833 mm) is still acceptable. In addition,
the laser interferometer is suitable tool to measure the
performance of the industrial robot because of their
persistency and accuracy.

The accuracy is better as the loads increased where it

shows the connection between accuracy and load in Graph
5.4. The linear line had shows that correlation even the
plotted value had shows the sinusoidal curve as the data
collected is not constant.
From the analysis that has being made, it can be
concluding that the robot less repeatability and less
accurate as the distance increased. While the robot have
good repeatability and good accuracy as the loads
increased.
5.1

As the conclusion, the project is success due to the

result and the analysis obtained had achieved the objectives
of the project where the loads and distances do affect the
repeatability and accuracy of the 6-axis COMAU robot and
straightly affect the performance of 6-axis COMAU robot.

Suggestion

Even this analysis can be declare as success but the

experiment itself being recognize giving not enough
information to gain the better analysis. So, its suggested to
9

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