本文是以空間分析(SA Machine)軟體、萊卡雷射絕對追蹤儀(Leica Absolute Tracker AT930)量具以及庫卡機械手臂(KUKA KR120 R2700 extra HA)，做為本次實驗的主要工具，用以探討機械手臂的各軸誤差，將實驗數據結果跟理論值做比較，驗正空間分析(SA Machine)軟體的適妥性。文中主要分析機械手臂各軸之誤差量，將各軸誤差量修正並回饋於模型，使模型與實際狀態進乎一致，大幅減少誤差，達到提升機械手臂之絕對精度
研究結果顯示，各軸因製造時的誤差以及組裝時產生的誤差，直接影響了機械手臂的終端工具中心點(End Effector Tool Center Point)。透過空間分析(SA Machine)軟體的運算，找出各軸的製造與組裝產生之誤差，一般統稱為幾何誤差，再將其誤差值融入模型中，使實體機械手臂與軟體上的模型一致，爾後計算出來的路徑，實際於空間中測量，誤差值從原本的±1.0mm以上減少至±0.1mm以內，大幅改善其絕對精度，能夠直接用於航太工業部分板件的加工上，無需再經過人工教導路徑及點位。

This article is based on SA Machine software, Leica Absolute Tracker AT930 and KUKA KR120 R2700 extra HA robot arm. It is the main tool for this experiment. It is used to discuss the deviation of each axis of the robot arm, and the experimental data results are compared with the theoretical value of the controller. Compare and verify the suitability of the SA Machine software. In this paper, the deviation amount of each axis of the robot arm is analyzed, and the deviation amount of each axis is corrected and feedback to the model, so that the model is consistent with the actual state, the deviation is greatly reduced, and the absolute precision of the robot arm is improved. The results of the study show that each axis directly affects the End Effector TCP point of the robot arm due to manufacturing errors and errors during assembly. Through the operation of the SA Machine software, the error caused by the manufacture and assembly of each axis is found. Generally speaking, it is called geometric deviation, and then the deviation value is integrated into the model, so that the physical robot arm and the model on the software are consistent, and then the calculated path is obtained. Actually measured in space, the deviation value is reduced from ±1.0mm to ±0.3mm, which greatly improves its absolute accuracy. It can be directly used in the processing of some parts of the aerospace industry, without the need for teaching path.

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