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This paper presents a trajectory compensation model to correct the deviation in the roll hemming applications. First, the main defects and problems of roll hemming technology are established. A trajectory compensation proposal is analyzed as well as the kinematic and stiffness model of the robot and the material deformation model. The implementation of the model on an industrial robot is tested and simulated. Consequently, the viability of the model is discussed and compared with other works.

A Trajectory Compensation Model for Roll Hemming Applications