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.

中文翻译：

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使用车身框架的机器人机械手的关节柔顺误差补偿

为了解决由机器人应用中的扳手引起的结构变形所引起的柔性误差，已经开发了几种补偿方法。但是，传统方法有局限性，因为它们没有考虑一个关节的补偿如何影响另一关节的顺应性误差。在这项研究中，提出了一种关节柔度误差补偿方法，该方法使用车身框架来计算每个关节的精确补偿量。通过仿真评估了所提出方法的有效性。