Table 1 Comparisons of the path...

Table 1

Comparisons of the path deviations and the maximum rotation angle of three path-following method for S-bends path

Method	End accuracy	Envelope width	Maximum rotation angle
PF method without joint limits	0.020 mm	15.4 mm	35.92°
PF method with joint limits	0.026 mm	32.18 mm	29.99°
Numerical method	1.293 mm	39.86 mm	30°

Method	End accuracy	Envelope width	Maximum rotation angle
PF method without joint limits	0.020 mm	15.4 mm	35.92°
PF method with joint limits	0.026 mm	32.18 mm	29.99°
Numerical method	1.293 mm	39.86 mm	30°

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