ROBOT ACCURACY COMPENSATOR.

An accuracy compensator for compensating the kinematic errors in robot manipulators is presented. It consists of a direct robot-accuracy calculator, that efficiently calculates the accurate robot Cartesian positions by using a novel, recursive formulation of T//i matrix, and an inverse robot-accuracy compensator, that calculates the equivalent changes in robot joint variables caused by the Cartesian errors obtained from the direct calculator. By adding these equivalent joint variable 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 for PUMA 560 robots is given.