An ANN-Based Precision Compensation Method for Industrial Manipulators via Optimization of Point Selection

<table class="table-group" id="tab5"><tr><td><table class="table"><tr><td class="thead-hr" colspan="4"><hr/></td></tr><tr class="thead"><td class="align_left"> </td><td class="align_center">Average</td><td class="align_center">Minimum</td><td class="align_center">Maximum</td></tr><tr><td class="thead-hr" colspan="4"><hr/></td></tr><tr><td class="align_left">Geometric error compensation with POE model</td><td class="align_center">1.81</td><td class="align_center">1.32</td><td class="align_center">2.38</td></tr><tr><td class="align_left">Stiffness error compensation based on ANN model</td><td class="align_center">1.23</td><td class="align_center">0.87</td><td class="align_center">1.99</td></tr><tr class="table-tr"><td colspan="4"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

<div>The results after compensation with the joint stiffness model (mm).</div>

Mathematical Problems in Engineering

tab5

Table 5

Table 5: An ANN-Based Precision Compensation Method for Industrial Manipulators via Optimization of Point Selection 