I'm a student using a KR 15 SL to get experimental data, and I've written a kinematic simulation of that robot in order to get some sim data. The Denavit-Hartenberg (DH) parameters came from R1/mada/$machine.dat:
$TIRORO
$TFLWP
$TX3P3
$LENGTH_A
$LENGTH_B
My question is, any ideas what error would be realistic to assume for my joint angles? Say I tell the robot to set A1 = 90, then what would you say the variance of the error would be? Or what's the magnitude of the error, assuming its white with zero mean. Think I'm going to end up with 90 +/- .001 deg? Or what? I suppose I should add noise to my joint readings too. So say the robot is actually at A1 = 45 then it'll tell me 45 +/- sigma.
Thanks.