ass日本风韵熟妇pics男人扒开女人屁屁桶到爽|扒开胸露出奶头亲吻视频|邻居少妇的诱惑|人人妻在线播放|日日摸夜夜摸狠狠摸婷婷|制服 丝袜 人妻|激情熟妇中文字幕|看黄色欧美特一级|日本av人妻系列|高潮对白av,丰满岳妇乱熟妇之荡,日本丰满熟妇乱又伦,日韩欧美一区二区三区在线

Positioning accuracy is of great significance for industrial applications. Nevertheless, in actual machining operations, deformation will generate on the endeffector of industrial manipulators under external loads due to the flexibility of actuated joints. In industrial environment, the stiffness identification accuracy of serial manipulators is affected by various measurement errors. However, there is little research on dealing with the inevitable error perturbation. An optimization method and experimental design were proposed for measurement configuration of manipulator stiffness identification. Firstly, κ－1F(A) was adopted as the evaluation criterion of measurement configuration considering comprehensively the influence of manipulator posture and wrench on stiffness identification. On this basis, optimal configurations based on κ－1F(A) were obtained by the appropriate simulated annealing algorithm. The optimized loading was achieved on the basis of the designed multi-directional loading setup. The experimental results showed that compared with the typical evaluation criterion κ－1F(J), the optimal configurations based on κ－1F(A) can better overcome the impact of various measurement errors. After displacement compensation, the end position accuracy was increased by 29.59%, and the maximum end position error was reduced by 32.71% compared with the typical criterion set. The proposed method can be subsequently applied to the stiffness identification of serial manipulators in industrial environment.