A method for compensating for accuracy errors of a hexapod is disclosed, said hexapod comprising a base, an actuation assembly having six linear translation actuators, a control unit, and a movable carriage comprising a platform connected to the base by means of the actuation assembly. The method includes a measurement step for determining geometry and positioning errors on the hexapod, the measurement step including sub-steps for determining positioning errors of the pivot centers on the carriage and on the base, for determining length errors of the actuators and for measuring positioning errors of the actuators along the path thereof, the compensation method also including a step for calculating, from measurements taken, error compensation values and a step for applying said error compensation values to the control unit of the hexapod, during subsequent use of said hexapod.

A method for compensating for accuracy errors of a hexapod is disclosed, said hexapod comprising a base, an actuation assembly having six linear translation actuators, a control unit, and a movable carriage comprising a platform connected to the base by means of the actuation assembly. The method includes a measurement step for determining geometry and positioning errors on the hexapod, the measurement step including sub-steps for determining positioning errors of the pivot centers on the carriage and on the base, for determining length errors of the actuators and for measuring positioning errors of the actuators along the path thereof, the compensation method also including a step for calculating, from measurements taken, error compensation values and a step for applying said error compensation values to the control unit of the hexapod, during subsequent use of said hexapod.

A machining apparatus includes a multi-joint arm provided with a machining tool for machining a workpiece. A control device of the machining apparatus includes: a storage section for storing NC data indicating a machining region of a workpiece by the machining apparatus; a distance measurement sensor placed on the arm and for measuring a distance between the workpiece and the machining apparatus for each machining surface of the workpiece; and a correction section for correcting the NC data for each of the machining surfaces based on a measurement result by the distance measurement sensor. As a result of this, the machining apparatus can perform the correction of machining data in correspondence to deviation of a machining object with higher accuracy.