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- W4313367841 abstract "The robot global repeatability prediction is of great significance to the performance evaluation and accuracy improvement. By taking a 6-DOF hybrid polishing robot as an example, this paper presents an efficient method for global repeatability prediction based on equivalent error model of actuated joint. Firstly, the actuated joint equivalent error model is established based on screw theory. Secondly, the robot with various source errors is visualized as a virtual robot with error-free parameters but actuated joint equivalent errors, and power polynomial is used to establish the mapping relationship between actuated joint equivalent repeatability errors and configuration. Then, the equivalent motion error independence of each actuated joint is verified by computer simulation and the power polynomial order is determined. Finally, experiments on a prototype are carried out to verify the reliability of the proposed method. The average change rate between the predicted and real pose repeatability was 8.73%." @default.
- W4313367841 created "2023-01-06" @default.
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- W4313367841 date "2023-02-01" @default.
- W4313367841 modified "2023-10-15" @default.
- W4313367841 title "Repeatability prediction of 6-DOF hybrid robot based on equivalent error model of actuated joint" @default.
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- W4313367841 doi "https://doi.org/10.1016/j.measurement.2022.112377" @default.
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