The paper describes a calculation procedure that allows reducing trajectory tracking errors of planar robots endowed with compliant joints. The proposed approach requires the modification of the tracking law of the assigned trajectory, i.e. the function s(t) that defines the variation of the curvilinear abscissa s versus time. The mean positioning error of the robot end-effector on the assigned trajectory is calculated by numerical simulation using a mathematical model of the manipulator, whereas the adjustments to the motion law are carried out by means of an optimization procedure, which changes automatically some numerical coefficients. to order to demonstrate the feasibility of the proposed method, the paper presents some numerical results obtained on a SCARA robot.
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