Kinematic calibration of high-payload transferring robot based on compensation of flexible deformation error

To meet the need of accurately transferring of the high-payload robot, a kinematics calibration method based on flexible deformation compensation is proposed. The the flexible deformation error is modeled and identificated, and both the link and joint's flexibility paramenters are obtained. The impact of the flexible deformation error on the kinematic identification is simulated. A compensation experiment is carried out on the compensation of the flexible deformtaion error.