Joint Compliance Error Compensation for Robot Manipulator Using Body Frame

Seong Hyeon Kim, Byung Kwon Min

Research output: Contribution to journalArticlepeer-review

5 Citations (Scopus)


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.

Original languageEnglish
Pages (from-to)1017-1023
Number of pages7
JournalInternational Journal of Precision Engineering and Manufacturing
Issue number6
Publication statusPublished - 2020 Jun 1

Bibliographical note

Publisher Copyright:
© 2020, Korean Society for Precision Engineering.

All Science Journal Classification (ASJC) codes

  • Mechanical Engineering
  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering


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