Table 2 Comparisons of the path...

Table 2

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

Method	End accuracy	Envelope width	Maximum rotation angle
PF method without joint limits	0.031 mm	27.14 mm	38.15°
PF method with joint limits	0.031 mm	35.97 mm	29.99°
Numerical method	2.185 mm	33.61 mm	30°

Method	End accuracy	Envelope width	Maximum rotation angle
PF method without joint limits	0.031 mm	27.14 mm	38.15°
PF method with joint limits	0.031 mm	35.97 mm	29.99°
Numerical method	2.185 mm	33.61 mm	30°

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