Advanced robot control in industrial and non-traditional applications

Describes a new method for real-time robot pose error compensation based on joint-specific error models. The compensation method uses the kinematic model description based on general rotation matrices and is well suited to treat all different kinds of kinematic and other errors, e.g. drive train, elastic deformation. Some results of the new compensation method are shown. An algorithm is presented which optimizes the robot´s movement using the existing robot controller by adjusting suitable parameters of the considered path planner, taking into account the robot´s dynamics as well as information about objects to be moved