Journal of Mechanical Science and Technology

, Volume 33, Issue 4, pp 1861–1868 | Cite as

Compliance error calibration for robot based on statistical properties of single joint

  • Liang DuEmail author
  • Tie Zhang
  • Xiaoliang Dai


This paper focuses on compliance error calibration. Because kinematic parameter error is the main error of a robot, we should first compensate for it. And because the compliance errors of some joints are too small, not all joints should be compensated for he compliance errors. We rotate the single joint along its axis locked other joints to obtain the statistical properties of all joints. The compliance errors are induced by gravity and elastostatic. This paper presents a mapping from the compliance error onto the joint variable vector; on the other hand, it utilized a method to transform the robot compliance error from the laser tracker system frame to the robot frame. The main attention is paid to analyze each joint compliance error using a single axis rotating by laser tracking system. To compensate the compliance error, we divided this problem into three sequential subtasks: identifying the robot compliance matrix, computing the compliance error of gravity without external loading, compensating compliance errors of elastostatic error on external loading.


Compliance error Robot Statistical properties Compensation Laser tracker system 


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Copyright information

© KSME & Springer 2019

Authors and Affiliations

  1. 1.School of Mechanical and Automotive EngineeringSouth China University of TechnologyGuangzhouChina
  2. 2.Guangdong Testing Institute for Product Quality SupervisionGuangzhouChina

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