Design of robot accuracy compensator after calibration

A design is presented of a robot accuracy compensator after calibration, which can efficiently calculate and compensate the calibrated kinematic errors for robot manipulators. This compensator consists of a direct robot accuracy calculator (DRAC) that efficiently calculates the accurate robot Cartesian positions using a recursive formulation of the T_i matrix, and an inverse robot accuracy compensator (IRAC), that calculates the equivalent changes in robot joint positions caused by the Cartesian errors obtained from the DRAC. By subtracting these equivalent joint position changes to the current existing kinematic joint solutions, the robot accuracy caused by the kinematic errors can be compensated. As an example, an efficient accuracy compensator designed for PUMA 560 robots is given