Validate robot link dimensional accuracy, mass properties, and range of motion using metrology tools including FARO arms, FARO laser trackers, CMM, structured light and laser 3D scanners, and fixture-based gauging, confirming production hardware matches CAD within tolerances. Develop and validate bot-level end effector and joint error models incorporating mechanical tolerances, calibration accuracy, backlash, datum variation, and vision system errors - validated on real hardware using OptiTrack, Vicon motion capture, FARO metrology, and fixture-based testing.