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The absolute positioning accuracy of robot manipulator can be increased substantially by updating the nominal link parameters in the control software. This paper presents a general method to estimate the link parameter errors for any serial link manipulator (i.e., n links, and any combination of revolute and prismatic joints). The parameters are estimated through a linear kinematic model which relates the link bias errors to the end-effector positioning error. Only endeffector measurements are required instead of individual link measurements to implement this method. o m w~r l P -~~w R~u . ~w r n 7 0 n a r~~~~n r w v~ xuz a 9 Q i E P Q ; t L I O . #rk?4Ligiaand. t l * U . & ' < 3 b @ 9 4 f @ Y = r 1 L

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