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In this paper, a comprehensive online error compensation approach using offline calibration results is proposed for industrial manipulators (with closed control architecture), in order to improve its accuracy. The contents in this paper include a calibration algorithm based on the product-of-exponential formula, an online error compensation procedure for implementing the calibration results on industrial...
Ensuing the advancement of new technologies in the manufacturing sector, there is an increasing demand for dexterous, multi-degree-of-freedom (MDOF) robotics manipulators or actuators. These actuators are utilized primarily in the assembly sectors, precision machining and active tracking devices. Prior to realizing a feasible MDOF actuator for any practical use, positional closed loop feedback is...
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