Replication Data for: A Nonlinear Elasticity Model and Feedforward Compensation Method to Increase Positioning Accuracy of Industrial Robots

Industrial robots are relatively inexpensive, compared to conventional machining tools. However, they suffer in terms of positioning and tracking accuracy. To overcome this issue, laser trackers can be used to calibrate the robot or even for positioning control. The spherically mounted reflector used must always be visible to the laser tracker. Therefore, the position of the reflector must be known precisely to guarantee visibility. This paper presents an efficient algorithm for identifying a kinematic model, which can then be used for further laser tracker tasks such as calibration or path tracking.