Aiming at the motion control algorithm of 5-axis industrial robot, this paper establishes a suitable position error analysis model for a KUKA 2700 robot. Based on the variable relationship between the end error of the robot and the parameters of each joint, an approximate compensation method using error mapping is designed based on computer software and numerical simulation tools, which realized the compensation of the position error of the robot and improved the positioning accuracy of the robot. This method is also suitable for error compensation of other mechanism types of robots, and has important application value in robot precision control.
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Chen et al. (2024) studied this question.
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