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 6

Flexibility factors for stiffness calibration identification.

cii, i = 1–6

0

1.89e − 5

−2.49e − 5

−5.35e − 5

−8.26e − 5

0