Robot Control Using Alternative Trajectories Based on Inverse Errors in the Workspace

<table class="table-group" id="tab4"><tr><td><table class="table"><tr><td class="thead-hr" colspan="7"><hr/></td></tr><tr class="thead"><td class="align_left">Parameter value</td><td class="align_center"><i>x</i> (mm)</td><td class="align_center"><i>y</i> (mm)</td><td class="align_center"><i>z</i> (mm)</td><td class="align_center"><i>R</i><sub><i>x</i></sub> (degree)</td><td class="align_center"><i>R</i><sub><i>y</i></sub> (degree)</td><td class="align_center"><i>R</i><sub><i>z</i></sub> (degree)</td></tr><tr><td class="thead-hr" colspan="7"><hr/></td></tr><tr><td class="align_left"> </td><td class="align_center">7.5984</td><td class="align_center">−15.8128</td><td class="align_center">107.8152</td><td class="align_center">90.1573</td><td class="align_center">1.1997</td><td class="align_center">−61.0056</td></tr><tr class="table-tr"><td colspan="7"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

<div>The probe coordinates in the last link of robot.</div>

Journal of Robotics

tab4

Table 4

Table 4: Robot Control Using Alternative Trajectories Based on Inverse Errors in the Workspace 