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 5
Absolute positioning accuracy of the SIASUN SR210D robot.
ā
Mean (mm)
Standard deviation (mm)
Maximum (mm)
Before calibration
1.1288
0.4709
2.3640
After robot link geometry and transmission errors compensation of measurement points
0.2898
0.1464
0.8226
After robot link geometry and transmission errors compensation of validation points