Study of the error correction procedure in robot calibration

The MMM (model modification method) alone fails to provide accuracy improvement in a robot with insufficient degrees of freedom. In this class of robot, accuracy improvement is usually followed by decline in flexibility. On the other hand, this class of robot is structurally simpler and very attractive from the dynamic calculation point of view. However, wide acceptance of robot technology depends largely on the robot´s ability to have both flexibility and accuracy. The result should be helpful in deciding what kind of robot is appropriate for future applications