Evolutionary Robot Calibration and Nonlinear Compensation Methodology Based on GA-DNN and an Extra Compliance Error Model

<div>The measurement tool with weight blocks for the Staubli RX160L robot. (a) The minimum external payload with 0.4 kg of the external payload. (b) Increasing weight blocks to change the size of the external payload.</div>

Mathematical Problems in Engineering

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Figure 14

Figure 14: Evolutionary Robot Calibration and Nonlinear Compensation Methodology Based on GA-DNN and an Extra Compliance Error Model 