An Alignment Method of Human-Robot Collaboration Based on the Six-Dimensional Force/Torque Dynamic Measurement for Large-Scale Components

Table 1

The parameters of the SPR.

Parameter name	Value
Moving range along x direction	±50 mm
Moving range along y direction	±50 mm
Moving range along z direction	±50 mm
Rotation range along x direction	±5°
Rotation range along y direction	±5°
Rotation range along z direction	±5°
Maximum load	800 kg
Accuracy	0.05 mm
Overall size	1.5m×1.5m×1m