Inverse modelling of the kinematical errors of industrial robots

For the relative positioning of the elements in the mechanical structure of the robots, DH type (Denavit-Hartenberg) parameters are used. They are characterised by certain geometrical errors which affect the robot kinematic and dynamic structure. The paper presents both the mathematical model for the DH type of geometrical errors calculus and the matrix equations typical of the direct and inverse modelling of kinematic errors, as well as an optimising model for the position-orientation and velocity-acceleration accuracy.