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- W2499651403 abstract "A novel approach is proposed in this paper to identify the link and kinematic pair errors of a SCARA robot. When geometric errors and elastic deformations are taken into consideration, an actual revolute joint permits motion of the moving link with respect to the fixed link with a total of six DOFs including the nominal rotational motion about the ideal R-joint axis. The actual moving axis of the R-joint is determined using the saddle point programming. The kinematic pair error is designated as the fitting error between the saddle constant axis ruled surface and the line-trajectory. The numerical results obtained using the proposed theory for a case study show good agreement with the experimental data." @default.
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- W2499651403 date "2015-11-24" @default.
- W2499651403 modified "2023-10-16" @default.
- W2499651403 title "A New Approach to Identify Link Errors and Kinematic Pair Errors of SCARA Robot" @default.
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- W2499651403 doi "https://doi.org/10.1007/978-3-319-23327-7_61" @default.
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