Improvement of Heavy Load Robot Positioning Accuracy by Combining a Model-Based Identification for Geometric Parameters and an Optimized Neural Network for the Compensation of Nongeometric Errors

Table 4

Nominal and identified value of reduction ratio errors.

	Nominal reduction ratio errors
, i = 1–6	1	1	1	1	1	1
	Identified reduction ratio errors
, i = 1–6	1.0002	1.0013	1.0004	0.9998	0.9996	1.0003