Research Article
Robot Control Using Alternative Trajectories Based on Inverse Errors in the Workspace
Table 5
Error without alternative trajectory and error after changing the trajectory three times.
| P | The first compensation | The second compensation | The third compensation | Uncompensated | x (mm) | y (mm) | z (mm) | | x (mm) | y (mm) | z (mm) | | x (mm) | y (mm) | z (mm) | |
| 1 | 0.1518 | −0.4110 | −0.3756 | 0.5771 | 0.1223 | 0.0821 | −0.0493 | 0.1553 | −0.1223 | −0.0821 | 0.0493 | 0.1553 | 0.4585 | 2 | 0.3480 | −0.2777 | 0.2383 | 0.5050 | 0.1581 | 0.1385 | −0.0818 | 0.2255 | −0.1581 | −0.1385 | 0.0818 | 0.2255 | 0.4353 | 3 | 0.0303 | 0.0120 | −0.0627 | 0.0707 | 0.1370 | 0.1404 | −0.1509 | 0.2475 | −0.1370 | −0.1404 | 0.1509 | 0.2475 | 0.2934 | 4 | 0.1030 | −0.1386 | 0.1319 | 0.2173 | 0.0192 | −0.0013 | −0.1473 | 0.1486 | −0.0192 | 0.0013 | 0.1473 | 0.1486 | 0.2889 | 5 | −0.1189 | 0.0235 | −0.0951 | 0.1541 | 0.0145 | 0.1431 | −0.2521 | 0.2902 | −0.0145 | −0.1431 | 0.2521 | 0.2902 | 0.2975 | 6 | −0.1828 | 0.0311 | −0.1440 | 0.2348 | 0.0469 | 0.0951 | 0.0254 | 0.1091 | −0.0469 | −0.0951 | −0.0254 | 0.1091 | 0.2846 | 7 | 0.1553 | −0.0073 | 0.1317 | 0.2038 | 0.0906 | 0.0824 | −0.1208 | 0.1720 | −0.0906 | −0.0824 | 0.1208 | 0.1720 | 0.3311 | 8 | −0.0172 | −0.0215 | −0.0760 | 0.0808 | 0.0458 | 0.0764 | 0.0868 | 0.1243 | −0.0458 | −0.0764 | −0.0868 | 0.1243 | 0.4924 | 9 | −0.1161 | −0.0435 | −0.2341 | 0.2649 | 0.0556 | 0.0881 | 0.0168 | 0.1056 | −0.0556 | −0.0881 | −0.0168 | 0.1056 | 0.2400 | 10 | 0.0974 | −0.1082 | 0.1033 | 0.1785 | 0.1059 | 0.1435 | −0.2877 | 0.3385 | −0.1059 | −0.1435 | 0.2877 | 0.3385 | 0.2189 | 11 | 0.1026 | −0.0392 | −0.1058 | 0.1525 | 0.0872 | 0.1118 | 0.0180 | 0.1429 | −0.0872 | −0.1118 | −0.0180 | 0.1429 | 0.2514 | 12 | 0.0095 | 0.0351 | −0.1042 | 0.1104 | −0.0294 | 0.1604 | −0.1138 | 0.1989 | 0.0294 | −0.1604 | 0.1138 | 0.1989 | 1.0255 | 13 | 0.1131 | −0.0893 | 0.1252 | 0.1909 | 0.0962 | 0.0151 | 0.0405 | 0.1055 | −0.0962 | −0.0151 | −0.0405 | 0.1055 | 0.2050 | 14 | −0.0070 | −0.0854 | −0.0232 | 0.0888 | 0.1125 | 0.0615 | 0.3329 | 0.3568 | −0.1125 | −0.0615 | −0.3329 | 0.3568 | 0.2266 | 15 | −0.0977 | −0.0141 | −0.1210 | 0.1561 | 0.1751 | 0.1584 | −0.1097 | 0.2603 | −0.1751 | −0.1584 | 0.1097 | 0.2603 | 0.4230 | 16 | 0.0875 | −0.0086 | 0.0983 | 0.1319 | 0.0062 | 0.0357 | −0.2057 | 0.2089 | −0.0062 | −0.0357 | 0.2057 | 0.2089 | 0.2116 | 17 | −0.0675 | −0.0468 | −0.0649 | 0.1047 | 0.0010 | 0.0834 | −0.3046 | 0.3158 | −0.0010 | −0.0834 | 0.3046 | 0.3158 | 0.1949 | 18 | −0.1280 | −0.0506 | −0.0879 | 0.1633 | −0.0427 | 0.0648 | 0.1952 | 0.2101 | 0.0427 | −0.0648 | −0.1952 | 0.2101 | 0.2314 | 19 | 0.0270 | 0.1064 | −0.1713 | 0.2035 | 0.0304 | 0.0810 | −0.2195 | 0.2359 | −0.0304 | −0.0810 | 0.2195 | 0.2359 | 0.5282 | 20 | −0.0648 | 0.0595 | −0.1977 | 0.2164 | −0.0219 | −0.0319 | −0.0148 | 0.0414 | 0.0219 | 0.0319 | 0.0148 | 0.0414 | 0.3656 | 21 | −0.0154 | 0.0685 | −0.1356 | 0.1527 | −0.0397 | −0.0066 | −0.0112 | 0.0417 | 0.0397 | 0.0066 | 0.0112 | 0.0417 | 0.2020 | 22 | 0.0044 | −0.1217 | 0.0951 | 0.1545 | 0.0337 | 0.0217 | −0.2236 | 0.2271 | −0.0337 | −0.0217 | 0.2236 | 0.2271 | 0.4336 | 23 | −0.1697 | −0.0996 | −0.1572 | 0.2519 | −0.1719 | −0.1713 | −0.0804 | 0.2557 | 0.1719 | 0.1713 | 0.0804 | 0.2557 | 0.4857 | 24 | −0.2146 | −0.1706 | −0.3390 | 0.4360 | −0.1922 | −0.1737 | −0.1439 | 0.2964 | 0.1222 | 0.1337 | 0.1239 | 0.2195 | 0.2630 | 25 | −0.0088 | −0.0084 | 0.1341 | 0.1347 | −0.0414 | −0.0442 | −0.1707 | 0.1811 | 0.0414 | 0.0442 | 0.1707 | 0.1811 | 0.6121 | 26 | −0.0410 | −0.1141 | −0.2072 | 0.2401 | 0.1460 | 0.1509 | 0.2260 | 0.3085 | −0.1460 | −0.1509 | −0.2260 | 0.3085 | 0.6086 | 27 | −0.1332 | −0.1220 | −0.1528 | 0.2366 | −0.0449 | 0.0022 | 0.4839 | 0.4860 | 0.0449 | −0.0022 | −0.4839 | 0.4860 | 0.2955 | 28 | 0.0925 | 0.0071 | 0.0651 | 0.1133 | 0.1623 | 0.1948 | −0.2548 | 0.3595 | −0.1623 | −0.1948 | 0.2548 | 0.3595 | 0.4056 | 29 | −0.0319 | −0.0072 | −0.1478 | 0.1514 | 0.0973 | 0.1027 | 0.0608 | 0.1540 | −0.0973 | −0.1027 | −0.0608 | 0.1540 | 0.7095 | 30 | −0.1795 | −0.0560 | −0.0200 | 0.1891 | −0.2734 | −0.2247 | 0.1003 | 0.3678 | 0.2734 | 0.2247 | −0.1003 | 0.3678 | 0.3451 | 31 | 0.1584 | 0.1282 | 0.1635 | 0.2613 | 0.3996 | −0.1232 | −0.0605 | 0.4226 | −0.3996 | 0.1232 | 0.0605 | 0.4226 | 0.4137 | 32 | 0.0375 | −0.0364 | −0.0011 | 0.0523 | −0.3075 | −0.3034 | −0.1946 | 0.4737 | 0.3075 | 0.3034 | 0.1946 | 0.4737 | 0.4515 | 33 | 0.0432 | −0.0338 | −0.2012 | 0.2085 | −0.1053 | −0.0066 | 0.3099 | 0.3273 | 0.1053 | 0.0066 | −0.3099 | 0.3273 | 0.3010 | 34 | 0.3517 | −0.2076 | 0.0335 | 0.4098 | −0.2208 | −0.2495 | −0.0012 | 0.3331 | 0.2077 | 0.1595 | 0.0012 | 0.2619 | 0.3529 | 35 | 0.0950 | 0.1144 | −0.1289 | 0.1968 | −0.1840 | −0.0758 | −0.4232 | 0.4677 | 0.1840 | 0.0758 | 0.4232 | 0.4677 | 0.2390 | 36 | −0.0205 | 0.0045 | 0.0464 | 0.0509 | −0.0794 | −0.0874 | −0.1698 | 0.2068 | 0.0794 | 0.0874 | 0.1698 | 0.2068 | 0.2241 | 37 | −0.0675 | 0.1108 | −0.1236 | 0.1792 | 0.1619 | −0.0755 | 0.3777 | 0.4178 | −0.1619 | 0.0755 | −0.3777 | 0.4178 | 0.2522 | 38 | −0.1149 | 0.0118 | −0.0219 | 0.1176 | 0.0247 | −0.0087 | −0.0524 | 0.0586 | −0.0247 | 0.0087 | 0.0524 | 0.0586 | 1.0172 | 39 | −0.2430 | −0.1785 | −0.1044 | 0.3191 | −0.3428 | −0.2457 | −0.1977 | 0.4658 | 0.3428 | 0.2457 | 0.1977 | 0.4658 | 0.5197 | 40 | −0.1160 | −0.2245 | −0.3228 | 0.4099 | −0.2329 | −0.1910 | 0.0658 | 0.3083 | 0.1233 | 0.1091 | −0.0658 | 0.1773 | 0.2622 | 41 | −0.2142 | −0.1800 | −0.1788 | 0.3321 | −0.1521 | −0.1592 | −0.0246 | 0.2215 | 0.1521 | 0.1592 | 0.0246 | 0.2215 | 0.4367 | 42 | −0.0474 | −0.2298 | 0.1103 | 0.2592 | −0.1859 | −0.2505 | −0.0443 | 0.3150 | 0.1859 | 0.2505 | 0.0443 | 0.3150 | 0.4418 | 43 | −0.1429 | −0.1891 | 0.1040 | 0.2588 | −0.2054 | −0.2638 | 0.0446 | 0.3373 | 0.2054 | 0.2638 | −0.0446 | 0.3373 | 0.3857 | 44 | −0.1813 | −0.1812 | 0.0241 | 0.2574 | −0.0999 | −0.1073 | −0.2540 | 0.2933 | 0.0999 | 0.1073 | 0.2540 | 0.2933 | 0.4038 | 45 | 0.7337 | 0.1183 | 0.2206 | 0.7752 | −0.2390 | −0.2529 | 0.0731 | 0.3555 | 0.2390 | 0.2529 | −0.0731 | 0.3555 | 0.9020 |
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