Second order nonlinear kinematic effects, and their compensation

This paper presents a mathematical model of the nonlinear kinematic effects, which reduce absolute static positioning accuracy of robot arms. This kinematic inaccuracy renders robot manipulators ineffective when programmed off-line, though they might be programmed to successfully perform the same task by "Teach Play back" schemes. The kinematic inaccuracy model, presented in this paper can be used to predict and compensate for these second order effects on-line, without resorting to sensor based programming techniques, which are often expensive and difficult to implement in an industrial environment.