Research Article
Design of A Robotic Arm Error Compensation System Based on the Transformer Model
@INPROCEEDINGS{10.4108/eai.22-5-2026.2365357, author={Yuqian Li}, title={Design of A Robotic Arm Error Compensation System Based on the Transformer Model}, proceedings={Proceedings of the 4th International Conference on Image, Algorithms, and Artificial Intelligence, ICIAAI 2026, 22-24 May 2026, Singapore, Singapore}, publisher={EAI}, proceedings_a={ICIAAI}, year={2026}, month={8}, keywords={Robotic arms pose compensation Transformer Industrial robots}, doi={10.4108/eai.22-5-2026.2365357} }- Yuqian Li
Year: 2026
Design of A Robotic Arm Error Compensation System Based on the Transformer Model
ICIAAI
EAI
DOI: 10.4108/eai.22-5-2026.2365357
Abstract
Industrial robots, especially robotic arms, are widely used in the industrial field today. In view of the end-effector posture error that exists in the robotic arm during the movement process, this paper takes the UR5 robotic arm as the research object and studies the error compensation method based on the Transformer model. By utilizing the temporal information in the dataset, a multi-feature temporal model compensation method based on the Transformer is proposed. Experimental results show that the proposed method can effectively predict the end-effector pose errors of the robotic arm. Compared with the baseline model, it achieves better prediction performance, demonstrating the effectiveness of the Transformer-based method in robotic arm pose error modeling.
