(1) Kankyee Ho Nkontaabu ne Akwantu Ho Nhyehyɛe: Kankyee ano aduru ne ɔkwan a wɔfa so nhyehyɛe a eye sen biara ma robɔt no kankyee pɛpɛɛpɛ na ɛyɛ adwuma yiye.
(2) Dynamics Compensation: Mpɛn pii no, mfiridwuma mu robɔt yɛ cantilever adan a ɛtoatoa so a ɛnyɛ den pii na ɛyɛ den, na ɛma ɛyɛ mmerɛw sɛ ɛbɛsakra na ɛwosow. Eyi hwehwɛ sɛ wɔde kinematics ne dynamics ka bom. Sɛnea ɛbɛyɛ na robɔt no adwumayɛ a ɛyɛ nnam ne ne kankyee pɛpɛɛpɛ no atu mpɔn no, ɛsɛ sɛ robɔt no sohwɛ nhyehyɛe no de nhwɛsode a ɛyɛ nnam si hɔ na ɛyɛ ahoɔden a wɔde tua ka. Nea ɛka akatua ho titiriw ne tumi a ɛtwe ade ba fam akatua, inertia akatua, friction akatua, ne coupling akatua.
(3) Calibration Compensation: Esiane mfomso a ɛwɔ dwumadie ne nhyiamu mu nti, akyinnye biara nni ho sɛ robɔt no mfiridwuma nipadua no twe ne ho fi nsusuwii mu akontaabu nhwɛso no ho, na ɛtew robɔt no TCP ne trajectory pɛpɛɛpɛyɛ so, a ebetumi anya welding ne offline nhyehyɛe so nkɛntɛnso kɛse. Wobetumi adi ɔhaw yi ho dwuma yiye denam robɔt no mfonini parameters a wobehu na wɔasusuw ho no so.
(4) Process Package Improvement: Ɛsɛ sɛ wɔde control system no ka engineering applications ankasa ho. Sɛ yɛde nkɔsoɔ a ɛkɔ so ne dwumadie a tumi wom kɛseɛ to nkyɛn a, ɛsɛ sɛ nhyehyɛeɛ no nso kɔ so yɛ na ɛma nhyehyɛeɛ a wɔde yɛ adwuma a egyina nnwumayɛbea dwumadie ahiadeɛ so no tu mpɔn. Eyi boa ma wɔboaboa nnwuma nhyehyɛe mu osuahu ano, na ɛma ɛyɛ mmerɛw, ɛyɛ mmerɛw, na ɛyɛ adwuma yiye ma adetɔfo.
