Figure 9
Six panel graph showing GPR fitting for positive K3 joint motions. Each panel compares experimental step size error and the fitted model for one joint, with average curves and standard deviation bands plotted against step size.The six plots compare predicted E subscript s per cent against step size in degrees for Joint 1 to Joint 6, K 3, Positive. The x-axes use a logarithmic scale from about 10 superscript minus 4 to 10 superscript minus 1 degrees. The y-axes range from minus 50 to above 100 per cent. Each plot includes experimental data plus or minus 1 sigma, a G P R model plus or minus 1 sigma, an experimental data average curve and a G P R model average curve. Joint 1 and Joint 2 fluctuate at smaller step sizes and approach 0 as step size increases. Joint 3 stays above 0 at smaller step sizes and approaches 0 after about 10 superscript minus 3 degrees. Joint 4, Joint 5 and Joint 6 show higher positive predicted E subscript s values across a wider small-step range before approaching 0 at larger step sizes.

Result of the GPR model fitting

Source: Authors’ own work

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