Figure 5
The flowchart starts with joint positioning to K subscript i, where i equals 1 to 5. The proposed method branch for L I S sets the initial step size to 0.1 degrees, runs 109 steps with decreasing step size upwards, applies backlash compensation, runs 109 steps with decreasing step size downwards, and computes E subscript s. The I S O 230 branch splits into L I S and backlash. The L I S branch selects step size, runs 10 steps with fixed step size upwards, then runs 10 steps with fixed step size downwards and 10 steps with fixed step size upwards. It processes visual data and asks whether the steps are distinguishable. Yes returns to select step size. No leads to finding the L I S value. The backlash branch selects a step size, such as 0.1 degrees, then runs five proposed steps with fixed step size upwards. It joins the fixed step size downwards stage. A separate loop asks whether iteration equals 5. No adds iteration plus 1 and returns to the fixed step size downwards stage. Yes leads to B computing and a motor torque sign check. The proposed method and I S O 230 paths lead to a resolution report and stop.Flowchart of the adopted test procedures
Source: Authors’ own work