Application of Joint Error Mutual Compensation for Robot End-effector Pose Accuracy Improvement

A method of robot end-effector pose accuracy improvement using joint error mutual compensation is presented. The developed method allows locating special robot configurations with the highest robot end-effector pose accuracy using joint error maximum mutual compensation. The computer simulation and experimental results confirmed the theory. The method provides the basis for an industrial application of joint error mutual compensation in the conventional robotic manipulators and allows improving robotic manipulator end-effector pose accuracy up to 2 times. The practical areas and typical robotic systems, where the developed framework of joint error mutual compensation could be applied, were presented.