Joint Compliance Error Compensation for Robot Manipulator Using Body Frame

To deal with the compliance error that is structural deflection caused by an applied wrench in robotic applications, several compensation methods have been developed. However, conventional methods have limitations because they do not consider how compensation of one joint affects the compliance errors of the other joints. In this study, it is proposed that a joint compliance error compensation method that calculates the exact amount of compensation of each joint using a body frame. The effectiveness of the proposed method is evaluated using simulations.