Implementation and Computer Simulation of Robot Joint Error Maximum Mutual Compensation

The method of end-effector pose accuracy improvement using joint error mutual compensation for robotic manipulators with rotation joints was presented. The computer simulation and experiments of the developed method showed that it was possible to perform the technological operations with a higher accuracy in the special areas of the robot working space using the developed approach. The method provides the basis for an industrial application of joint error mutual compensation in the conventional robotic manipulators. The practical areas and typical robotic systems where the developed framework of joint error mutual compensation could be applied were presented. Key-Words: error compensation, robotic manipulator, robotic system, error compensation, pose accuracy, computer simulation.