工業用機器人的精度受到許多因素影響，如製造誤差、連桿機械性質、外力(包含桿重)或工作環境等因素。雖然機器人的精度可經由一些補償技術改善，但現有的方法大多僅簡單地針對連桿參數進行校準，對於順應性補償則僅考慮作用於端效器上之力量及力偶。本文提出之方法可校準連桿參數、求得正確的連桿重量及重心位置、計算考慮所有外力及桿重之正確順應性補償數據，提出新方法求得校準後機器人之正確反位移解，及所提之順應性補償及反位移分析方法皆具有極高的計算效率，以滿足即時控制之需求。

　　The accuracy of an industrial manipulator is affected by several factors such as manufacturing errors, mechanical properties of links, external forces (including mass weight), or working environment. Although the accuracy can be improved by some calibration techniques, but most existing methods simply calibrate link parameters and the compensation for compliance only considers the effects of external forces acting on the end-effector. The methods presented in this thesis calibrate link parameters, determine the exact mass weight and the position of the mass center of a link, compute compensation for compliance that considers the effects of all possible forces acting on a manipulator, and provide inverse kinematic solutions for the manipulator with the new modified link parameters. The compensation for compliance and the inverse kinematic solutions can be efficiently determined to meet the control requirements of a manipulator.

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