A measurement and control technology is presented to compensate the movement angle error for each axis of the robot. The effect significance of various factors on the movement angle error is discussed. The control error model of motor moving and the deformation error model of joint or link are analyzed independently. A measuring scheme based on biaxial orthogonal inertial measurement is proposed. In order to obtain the distribution of the space geometric error, the angle error of each robot axis is measured in the motion range of every axis in advance. Then the orthogonal polynomial fitting is used to establish the position error distribution model of each axis. An error compensation value is calculated using the proposed model before the robot runs, so as to control the robot for position compensation. The distribution law of each axis motion error in the robot and the way of orthogonal polynomial fitting are analyzed. The laser tracker is used to measure the compensation effect of the position accuracy of the robot end. The robot control accuracy can be improved by studying robot performance and its compensation.
 Elatta A Y, Li P G, Fan L Z, et al. An overview of robot calibration[J]. Information Technology Journal, 2004, 3(1): 74-78. Alici G, Shirinzadeh B. A systematic technique to estimate positioning errors for robot accuracy improvement using laser interferometry based sensing[J]. Mechanism and Machine Theory, 2005, 40(8): 879-906.  Luo R C, Yi C Y, Perng Y W. Gravity compensation and compliance based force control for auxiliarily easiness in manipulating robot arm[C]//8th Asian Control Conference. Piscataway, USA: IEEE, 2011: 1193-1198. 王一,刘常杰,任永杰,等.工业坐标测量机器人定位误差补偿技术[J].机械工程学报,2011,47(15):31-36.Wang Y, Liu C J, Ren Y J, et al. Compensation for positioning error of industrial coordinate measurement robot[J]. Journal of Mechanical Engineering, 2011, 47(15): 31-36. 焦国太,冯永和,王锋,等.多因素影响下的机器人综合位姿误差分析方法[J].应用基础与工程科学学报,2004,12(4):435-442.Jiao G T, Feng Y H, Wang F, et al. Synthetically analysis of the robot pose error resulting from various factors[J]. Journal of Basic Science and Engineering, 2004, 12 (4): 435-442. 赵俊伟,代军.基于数据库查询的工业机器人误差补偿方法研究[J].机床与液压,2008,36(11):15-17.Zhao J W, Dai J. Research on industrial robot error compensation method based on database inquirement[J]. Machine Tool & Hydraulics, 2008, 36(11): 15-17. Sekimoto M, Kawamura S, Ishitsubo T, et al. Posture control of a multi-joint robot based on composition of feedforward joint-torques acquired by iterative learning[C]//ICROS-SICE International Joint Conference. Piscataway, USA: IEEE, 2009: 3094-3099. 刘田,谈进.正交多项式逼近下非线性趋势序列单位根检[J].统计研究,2011,28(4):99-105.Liu T, Tan J. Unit root test of series with nonlinear trend based on orthogonal polynomial approximation[J]. Statistical Research, 2011, 28(4): 99-105. Everett L J. Models for diagnosing robot error sources[C]//IEEE International Conference on Robotics and Automation. Piscataway, USA: IEEE, 1993: 155-159.