Method and system for increasing the accuracy with which a path is followed by a tool of a robot

A method for increasing the accuracy with which a smooth path is followed by a tool of a robot, comprising:

• a data-acquiring step, implemented by means of the robot, in which the robot is made to execute a path, referred to as the robot path, allowing the tool in a non-operational situation to follow a given smooth path, during which step values of inertial parameters are measured, by means of at least one inertial measurement device, and values of state data of the robot are determined, the measured values of the inertial parameters and the determined values of the state data being stored;
• a data-processing step, implemented by a computing device, in which, based on the measured and stored values of the inertial parameters, on the determined and stored values of the state data, and on the given smooth path, a prediction model for predicting future values of the state data of the robot is formed;
• and
• an operating step, implemented by means of the robot, in which the robot is made to execute said robot path, this operating step comprising a control sub-step in which, repeatedly, during execution of the robot path, actuators of the tool are controlled so as to compensate for Cartesian errors in order to increase the accuracy with which the tool in an operational situation follows said smooth path, said Cartesian errors being determined based on a predicted Cartesian path, obtained from said future values of the state data.