Method and system to provide imporved accuracies in multi-jointed robots through kinematic robot model parameters determination

The method and system which offer the accuracy improved by kinematic robot model parameter determination in an articulated robot are indicated. The present invention proofreads an articulated robot by using Chan Ruehl of the differentiation in the Jacobian differentiation about the deviation in the posture in which the reference point of the standard object as a function of the deviation in a robot model parameter was calculated. The present invention also uses such two standard objects and a known distance between them, in order to avoid the necessity of deciding a length scale and as a result getting to know one link length of a robot. In addition, the present invention uses the repetitive method, in order to find out the optimal solution about the accuracy to which the best of the model parameter of a result was carried out. Furthermore, the present invention offers the determination of a robot's last joint parameter containing the parameter which defines a tool attachment mechanism frame, and it enables exchange of a tool without subsequent proofreading.