The Cognibotics patented clamping method uses a fixed point where the robot end-effector is rigidly attached. No movement of the links is possible. By exciting the joints of the robot in certain patterns, compliance parameters of the joints and links are identified from the measurement data of the internal sensors of the joints.

By incorporating these parameters into our elasto-kinematics, the deviations of the end-effector caused by gravity and process forces can be compensated, in order to maximize the positioning accuracy.