A new method for correcting uncalibrated robot programs

In this paper, we present a new method for correcting robot programs for uncalibrated robots without measurement instruments. The method is not a calibration method as such as the goal is not to find the correct and complete kinematic model, but only to find the model that makes the forward kinematics model in particular configurations comparable with an existing running robot program and thus make a correction of this program possible. The application domain for the method is to be able to correct programs so that they work despite unexpected robot maintenance or replacement. The method is a hybrid between classical teachin techniques and model based offline programming methods. We describe the modelling of the robots and how they are connected. Finally, we present the results both from simulated and practical experiments. The technique described in this paper is patent pending.