Table 4

LIS values for all robot joints: ISO vs proposed test method

 K1K2K3K4K5
JointDirection IdealISOProposedISOProposedISOProposedISOProposedISOProposed
1Positive negative 5.3×10−6°0.0022°0.0001° 0.0002°0.0030°0.0001° 0.0001°0.0022°0.0001° 0.0001°0.0030°0.0002° 0.0001°0.0030°0.0001° 0.0001°
2Positive negative 5.4×10−6°0.0011°0.0004° 0.0004°0.0006°0.0003° 0.0004°0.0037°0.0005° 0.0008°0.0050°0.0003° 0.0004°0.0050°0.0004° 0.0004°
3Positive negative 5.8×10−6°0.0010°0.0011° 0.0011°0.0007°0.0009° 0.0007°0.0010°0.0011° 0.0011°0.0010°0.0011° 0.0009°0.0007°0.0009° 0.0002°
4Positive negative 6.9×10−6°0.0081°0.0033° 0.0025°0.0015°0.0035° 0.0043°0.0055°0.0035° 0.0028°0.0015°0.0057° 0.0035°0.0081°0.0016° 0.0033°
5Positive negative 6.5×10−6°0.0100°0.0011° 0.0004°0.0010°0.0009° 0.0003°0.0010°0.0011° 0.0004°0.0010°0.0011° 0.0010°0.0100°0.0007° 0.0002°
6Positive negative 10.5×10−6°0.0081°0.0043° 0.0057°0.0081°0.0053° 0.0050°0.0060°0.0043° 0.0061°0.0081°0.0061° 0.0061°0.0081°0.0043° 0.0053°
Source(s): Authors’ own work
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