Error Compensation Trajectory Planning Method of Brake Disc Shaft Hole Assembly considering Robot Accumulated Error

Table 2

Joint motion range of each axis.

Axis	Action	Scope of activity
1	Spin	−170°–170°
2	Bending	−70°–70°
3	Bending	−65°–70°
4	Spin	−150°–150°
5	Bending	−115°–115°
6	Spin	−300–300°