Paksoy, ErkanDede, Mehmet Ismet CanKiper, Gokhan2025-02-052025-02-0520250263-57471469-8668https://doi.org/10.1017/S0263574724002042https://hdl.handle.net/11147/15288PAKSOY, ERKAN/0000-0001-7141-9026; Kiper, Gokhan/0000-0001-8793-724X; Dede, Mehmet/0000-0001-6220-6678For precision-required robot operations, the robot's positioning accuracy, repeatability, and stiffness characteristics should be considered. If the mechanism has the desired repeatability performance, a kinematic calibration process can enhance the positioning accuracy. However, for robot operations where high accelerations are needed, the compliance characteristics of the mechanism affect the trajectory-tracking accuracy adversely. In this paper, a novel approach is proposed to enhance the trajectory-tracking accuracy of a robot operating at high accelerations by predicting the compliant displacements when there is no physical contact of the robot with its environment. Also, this case study compares the trajectory-tracking characteristics of an over-constrained and a normal-constrained 2degrees-of-freedom (DoF) planar parallel mechanism during high-acceleration operations up to 5 g accelerations. In addition, the influence of the end-effector's center of mass (CoM) position along the normal of the plane is investigated in terms of its effects on the proposed trajectory-enhancing algorithm.eninfo:eu-repo/semantics/closedAccessHigh-Acceleration Industrial RobotsTrajectory-Tracking AccuracyCompliant Displacement CompensationArticle2-s2.0-8521491962110.1017/S0263574724002042