Trajectory accuracy improving for robot mirror surface machining based on local distance error information

Algorithm 1​ calculates the local distance error influence vector for a given trajectory. This vector reflects the local characteristics of the trajectory.

Algorithm 2​ filters the measured trajectory points based on the influence vector obtained from Algorithm 1, selecting the error measurement trajectory points that are most meaningful for locally improving the trajectory accuracy. Algorithm 3​ is an iterative compensation algorithm that corrects the trajectory based on the measured local errors. All algorithms were implemented in MATLAB R2024a.