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The paper provides a comparison between a novel technique used for the pose error measurements and compensations of robots based on a fuzzy error interpolation method and some other popular interpolation methods. By using the proposed fuzzy error interpolation technique, the accuracy of the pose-error compensation can be improved, which has been confirmed by the simulation results given in this paper, compared with other interpolation methods. A comparison study among various interpolation methods, such as trilinear, cubic spline, and the fuzzy error interpolation technique is also made and discussed via simulation. The simulation results show that more accurate measurement and compensation results can be achieved using the fuzzy error interpolation technique compared with its trilinear and cubic spline counterparts.
Date of Conference: 18-23 July 2010