Figure 6
The workflow starts with J equals 1, then checks whether J equals 6 in an iteration loop. If no, it sets K equals 1 and checks whether K equals 5. If yes, K becomes K plus 1 and repeats. If no, laser data and robot tracing data are clipped and converted from milliradians to degrees. The I S O procedure sends the converted signal to plotting. The proposed procedure sends it to a step identification module. This module differentiates the signal into raw joint speed, applies a smoothing filter to remove noise, finds speed peaks to define intervals for step search, and identifies steps. The identified performed motion steps feed the performance indexes evaluation. Commanded and performed motion steps support backlash B, step size error E subscript s, and L I S calculations. The loop continues through K positions and J joints. When J equals 6, the workflow outputs the plot or result and stops.Flowchart of data post-processing
Source: Authors’ own work