Trajectory pre-compensation algorithm for improving the path accuracy of industrial robots

Abstract

In this paper, a trajectory pre-compensation algorithm is proposed for improving the path accuracy of 6 D.O.F. industrial robots. Via the analysis for the dynamic behavior of robot motion, a prediction model of path deviation is derived and applied to implement path pre-compensation scheme. The scheme is not only easy compatible with the interface of industry control platform, but also is low computation complexity. The proposed method is experimentally validated on the ITRI A-type industrial robot.