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An important characteristic for the field of industrial robotics is the positioning precision of end effectors. Due to the progress of the computer technologies and control systems, the accuracy has significantly improved in the last years. Still, there is a continuous need for machines to provide higher accuracy mechanisms and kinematic chains or to adjust the systems already built in order to adequate it to reach to a better precision of the tasks. The current paper shows the results of afatcat:6gyfa7ylkfdsbjklgoszb37qmi