A Compensation Method of The Robot Pose Error

Abstract

The robot pose error results from many kinds of influencing factors. The influence of mechanical errors and control errors can not be eliminated by control system itself, so it needs to be compensated by control algorithm. The compensation of robot synthetic pose errors resulting from various factors was discussed. A numerical approach was presented to calculate the numerical value for compensating synthetic pose errors of the robots. The approach is especially applicable to the robots, whose links and joints possess flexibility. The numerical example indicates that the approach has a favorable compensation effect.