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Non-Geometric Error Compensation for Long-stroke Cartesian Robot with Semi-analytical Beam Deformation and Gaussian Process Regression Model
Till now, most calibration methods only compensate geometric error caused by inaccurate kinematic parameters, while the desired accuracy may still not be achieved when the robot is performing long-stroke, heavy-duty loading and unloading tasks. In this paper, a generalized semi-analytical beam deformation model is firstly proposed for the Cartesian robot to compensate the non-geometric error due to structural deformation under both distributed and concentrated loads. The adjustment factors aredoi:10.1109/access.2021.3069873 fatcat:flxxbdwzqvakfbmmp5o5oh7l2e