Experimental Analysis on the Effectiveness of Kinematic Error Compensation Methods for Serial Industrial Robots

Table 4

The comparison of the position error and attitude error of the four compensation methods.

	Parameters	Method 1	Method 2	Method 3	Method 4
AE (mm)	Px	0.02451	0.01884	0.02225	0.02039
	Py	0.0259	0.02562	0.02566	0.02541
	Pz	0.03575	0.03993	0.04257	0.03821
	φα	0.05167	0.0547	0.05572	0.05554
	φβ	0.02502	0.02524	0.02559	0.02585
	φγ	0.03096	0.02645	0.02683	0.02659
ME (mm)	Px	0.0425	0.04228	0.05176	0.04277
	Py	0.04887	0.05968	0.05531	0.05715
	Pz	0.06394	0.06098	0.05901	0.05645
	φα	0.09774	0.09602	0.09663	0.09689
	φβ	0.04356	0.04493	0.04571	0.04393
	φγ	0.05866	0.05656	0.05851	0.05752
SD (mm)	Px	0.01197	0.01394	0.01648	0.01443
	Py	0.01448	0.01581	0.01842	0.01839
	Pz	0.01471	0.01442	0.0144	0.01506
	φα	0.03053	0.02938	0.02956	0.02916
	φβ	0.01688	0.01466	0.01483	0.01333
	φγ	0.01786	0.01567	0.01537	0.01546

AE: average error; ME: maximum error; SD: standard deviation.