Modeling and Compensation of Motion Errors for 6-DOF Robotic Manipulators

Six degree-of-freedom (6-DOF) robotic manipulators have been increasingly adopted in various applications industries due to advantages, such as large operation space, more degrees of freedom, low cost, easy placement, and convenient programming. However, the manipulator has problem insufficient stiffness series structures, which will cause motion errors end. In this paper, taking a 6-DOF an example, forward inverse kinematics models are established, new modeling method for joint angle space end is proposed, can establish composite model link stiffness. An error compensation subsequently established. The experimental results indicate that proposed effectively reduce manipulator, hence, working performance accuracy be improved. research helpful extending application precision machining measurement.