Method for calibrating articulated robot, computer device and readable storage medium

A computer device comprising a processor and a memory storing processor-executable instructions, wherein the processor-executable instructions, when executed by the processor, cause the processor to:

• acquire desired trajectory information regarding a desired trajectory of an end-effector of an articulated robot;
• acquire load information regarding a load experienced by the articulated robot, the load comprising a gravity load, an inertial load and an external load;
• obtain, based on the desired trajectory information, joint position data indicating a joint position of the articulated robot;
• obtain, based on the joint position data and the load information, end position change data indicating an end position change of the end-effector;
• receive a user input and set a predetermined compensation strategy as one of a first compensation strategy, a second compensation strategy, or a third compensation strategy based on the user input;
• and
• compensate, based on the end position change data, a position error of the end-effector according to a predetermined compensation strategy.

A non-temporary computer-readable storage medium storing processor-executable instructions, wherein the processor-executable instructions, when executed by a processor, cause the processor to:

• acquire desired trajectory information regarding a desired trajectory of an end-effector of an articulated robot;
• acquire load information regarding a load experienced by the articulated robot, the load comprising a gravity load, an inertial load and an external load;
• obtain, based on the desired trajectory information, joint position data indicating a joint position of the articulated robot;
• obtain, based on the joint position data and the load information, end position change data indicating an end position change of the end-effector;
• receive a user input and set a predetermined compensation strategy as one of a first compensation strategy, a second compensation strategy, or a third compensation strategy based on the user input;
• and
• compensate, based on the end position change data, a position error of the end-effector according to a predetermined compensation strategy.