Replication Data for: Learning Compensation of the State-Dependent Transmission Errors in Rack-and-Pinion Drives (doi:10.18419/darus-3759)

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Part 1: Document Description
Part 2: Study Description
Part 3: Data Files Description
Part 4: Variable Description
Part 5: Other Study-Related Materials
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Replication Data for: Learning Compensation of the State-Dependent Transmission Errors in Rack-and-Pinion Drives

doi:10.18419/darus-3759

DaRUS

2024-03-21

1

Steinle, Lukas, 2024, "Replication Data for: Learning Compensation of the State-Dependent Transmission Errors in Rack-and-Pinion Drives", https://doi.org/10.18419/darus-3759, DaRUS, V1, UNF:6:yyyPRR4Wz8WOv1lj5nOToA== [fileUNF]

Replication Data for: Learning Compensation of the State-Dependent Transmission Errors in Rack-and-Pinion Drives

doi:10.18419/darus-3759

Steinle, Lukas (Universität Stuttgart)

447112572

521502188

DaRUS

Steinle, Lukas

ISW DaRUS Admin

Steinle, Lukas

2023-10-30

https://doi.org/10.18419/darus-3759

Engineering, Mechatronics, Mechatronics, Motion Control, Motion Control, Machine Tools, Machine-Tools, Machine Learning, Machine Learning, Rack Pinion Drive, Transmission Errors

This dataset contains all experimental data that is shown within the paper "Learning Compensation of the State-Dependent Transmission Errors in Rack-and-Pinion Drives". <br> <br> Rack-and-pinion drives are commonly used in large machine tools to provide linear motion of heavy loads over long travel distances. A key concern in this context is the achievable path accuracy, which is limited by assembly and manufacturing tolerances of the gearing components in conjunction with load-dependent deformation and the inherent backlash of the system. To address this issue, this paper presents a method for robust modeling of the individual and state-dependent transmission errors of a drive utilizing a two-stage machine learning approach. Based on this, the position control is extended to include an error compensation, which suppresses the modeled deviations in the mechanical system including the position-dependent backlash. The achievable increase in path accuracy as well as the robustness of the approach are evaluated and quantified by an experimental validation on a system with industry standard components. <br> <br> The data are structured to correspond to the figures in the publication and are available in TAB or Excel format: <ul> <li><b>Fig. 2 TE measurements</b>: Measured transmission errors of the examined rack-and-pinion drive in both directions of motion under varying external load.</li> <li><b>Fig. 4 Path errors</b>: Comparison of calculated and measured path errors for different velocities with no external load.</li> <li><b>Fig. 6 Model training</b>: Training data for the deformation regression models and the predictions of the trained neural network and the regression tree ensemble.</li> <li><b>Fig. 8 Compensation validation sine</b>: Evaluation of the compensation of the transmission errors and backlash for a sinusoidal trajectory.</li> <li><b>Fig. 9 Compensation validation overall</b>: Evaluation of the improvement of the path accuracy by the compensation for varying loads and velocities.</li> </ul>

L. Steinle, V. Leipe, A. Lechler and A. Verl, "Learning Compensation of the State-Dependent Transmission Errors in Rack-and-Pinion Drives", 2024 European Control Conference (ECC), Stockholm, Sweden, 2024.

10.23919/ECC64448.2024.10591213

L. Steinle, V. Leipe, A. Lechler and A. Verl, "Learning Compensation of the State-Dependent Transmission Errors in Rack-and-Pinion Drives", 2024 European Control Conference (ECC), Stockholm, Sweden, 2024.

• Number of cases: 1000000

• No. of variables per record: 6

• Type of File: text/tab-separated-values

UNF:6:u6rVtT3JahmOzMN3FpwU7Q==

• Number of cases: 1000002

• No. of variables per record: 6

• Type of File: text/tab-separated-values

UNF:6:+bHOrCIjZE2QawvDZqpCZg==

• Number of cases: 20001

• No. of variables per record: 7

• Type of File: text/tab-separated-values

UNF:6:UEc8NzhFLgDKc3HfGNGvQQ==

• Number of cases: 40000

• No. of variables per record: 7

• Type of File: text/tab-separated-values

UNF:6:+p14KExeq33sQMKB2DVhgQ==

• Number of cases: 26667

• No. of variables per record: 7

• Type of File: text/tab-separated-values

UNF:6:FwZ8iVgBUEfmRyVYaMQtXA==

• Number of cases: 4001

• No. of variables per record: 5

• Type of File: text/tab-separated-values

UNF:6:ASgKw38LCC+TgWloqPsmCw==

• Number of cases: 30811

• No. of variables per record: 6

• Type of File: text/tab-separated-values

UNF:6:FBJJqAcq9lqxSTyhh1TmCQ==

• Number of cases: 30811

• No. of variables per record: 6

• Type of File: text/tab-separated-values

UNF:6:VqkeH30jjoAkGLokMXjm7w==

• Number of cases: 220004

• No. of variables per record: 8

• Type of File: text/tab-separated-values

UNF:6:OENM8fxKCehhMB5mxMkW9w==

• Number of cases: 220005

• No. of variables per record: 8

• Type of File: text/tab-separated-values

UNF:6:pPAnsM8z7e43VF6XblNi8A==

• Number of cases: 440003

• No. of variables per record: 8

• Type of File: text/tab-separated-values

UNF:6:Kx3lVMCbo6MIDVuMKlU5OQ==

• Number of cases: 440004

• No. of variables per record: 8

• Type of File: text/tab-separated-values

UNF:6:yUZHOevdUyqEBhJ7hlnsbg==

• Number of cases: 293335

• No. of variables per record: 8

• Type of File: text/tab-separated-values

UNF:6:IPV5XeURAdusnnaxj5uUjA==

• Number of cases: 293337

• No. of variables per record: 8

• Type of File: text/tab-separated-values

UNF:6:lEQ+aGyUDRl+2DbnhJN4KQ==

• time - time
• x_T - x_T
• x_M - x_M
• T_M - T_M
• F_ext - F_ext
• TE - TE
• time - time
• x_T - x_T
• x_M - x_M
• T_M - T_M
• F_ext - F_ext
• TE - TE
• time - time
• x_d - x_d
• x_T - x_T
• x_M - x_M
• T_M - T_M
• e_x - e_x
• e_x.sim - e_x.sim
• time - time
• x_d - x_d
• x_T - x_T
• x_M - x_M
• T_M - T_M
• e_x - e_x
• e_x.sim - e_x.sim
• time - time
• x_d - x_d
• x_T - x_T
• x_M - x_M
• T_M - T_M
• e_x - e_x
• e_x.sim - e_x.sim
• TE_def - TE_def
• TE_def.NN - TE_def.NN
• TE_def.BRT - TE_def.BRT
• x_T - x_T
• T_M - T_M
• time - time
• x_d - x_d
• x_T - x_T
• x_M - x_M
• e_x - e_x
• v_c - v_c
• time - time
• x_d - x_d
• x_T - x_T
• x_M - x_M
• e_x - e_x
• v_c - v_c
• time - time
• x_d - x_d
• F_ext - F_ext
• T_M - T_M
• x_T - x_T
• x_M - x_M
• e_x - e_x
• v_c - v_c
• time - time
• x_d - x_d
• F_ext - F_ext
• T_M - T_M
• x_T - x_T
• x_M - x_M
• e_x - e_x
• v_c - v_c
• time - time
• x_d - x_d
• F_ext - F_ext
• T_M - T_M
• x_T - x_T
• x_M - x_M
• e_x - e_x
• v_c - v_c
• time - time
• x_d - x_d
• F_ext - F_ext
• T_M - T_M
• x_T - x_T
• x_M - x_M
• e_x - e_x
• v_c - v_c
• time - time
• x_d - x_d
• F_ext - F_ext
• T_M - T_M
• x_T - x_T
• x_M - x_M
• e_x - e_x
• v_c - v_c
• time - time
• x_d - x_d
• F_ext - F_ext
• T_M - T_M
• x_T - x_T
• x_M - x_M
• e_x - e_x
• v_c - v_c

f286564 Location:

Summary Statistics: Mean 49.99975; StDev 28.86752789288799; Max. 99.9995; Min. 0.0; Valid 1000000.0

Variable Format: numeric

Notes: UNF:6:wcRFz/dYkJzCei8RGunXDw==

f286564 Location:

Summary Statistics: StDev 0.28867529287427635; Max. 0.9999998; Valid 1000000.0; Mean 0.5000012108929006; Min. 2.9E-6

Variable Format: numeric

Notes: UNF:6:1Cy2XQC/ViMOthG/JqV6PA==

f286564 Location:

Summary Statistics: Valid 1000000.0; StDev 0.28867603953732296; Mean 0.49992770533646624; Max. 0.999972833; Min. -9.1803E-5

Variable Format: numeric

Notes: UNF:6:vXcfxqsIywGVNIwJpNrKQg==

f286564 Location:

Summary Statistics: Valid 1000000.0; Min. -12.5258402; Max. -0.629047281; Mean -6.654130011660655; StDev 3.9011425575764735

Variable Format: numeric

Notes: UNF:6:yA006kUF5zgyVmk73xGKbA==

f286564 Location:

Summary Statistics: StDev 1414.2142694804065; Mean 2000.0; Max. 4000.0; Valid 1000000.0; Min. 0.0

Variable Format: numeric

Notes: UNF:6:WnOTS2oWys9zASTeO3idxA==

f286564 Location:

Summary Statistics: Valid 1000000.0; Mean 7.350554871829972E-5; StDev 2.471535963747971E-5; Max. 1.18941E-4; Min. 2.04031E-5

Variable Format: numeric

Notes: UNF:6:XuUh1NxAr2KHeP6FKbAAww==

f286563 Location:

Summary Statistics: Min. 0.0; Mean 49.99995000010014; StDev 28.86758562878141; Valid 1000002.0; Max. 100.0

Variable Format: numeric

Notes: UNF:6:WhZiMn4yWSNz3Wp9wpxGEA==

f286563 Location:

Summary Statistics: Valid 1000002.0; Mean 0.49999940123689646; Min. 1.0E-7; Max. 0.9999997; StDev 0.2886758220888156

Variable Format: numeric

Notes: UNF:6:2z3Nlfi2yOFF8CQdE0B1PA==

f286563 Location:

Summary Statistics: Valid 1000002.0; StDev 0.28867139134268166; Min. 9.60031E-6; Mean 0.5000199542647126; Max. 1.000064536

Variable Format: numeric

Notes: UNF:6:sXXz8V21EFweJMtNkTbtUA==

f286563 Location:

Summary Statistics: Valid 1000002.0; Mean 6.720092917594488; StDev 3.895182074172768; Max. 12.61111684; Min. 0.779729476

Variable Format: numeric

Notes: UNF:6:NrFqa88ixUJP+Jx/iP14dQ==

f286563 Location:

Summary Statistics: Max. 0.0; Mean -2000.0009999878046; Valid 1000002.0; Min. -4000.0; StDev 1414.2132088165174

Variable Format: numeric

Notes: UNF:6:Xy3v2XkG5tjsOhNPa7J6Jw==

f286563 Location:

Summary Statistics: StDev 2.4674945038610286E-5; Valid 1000002.0; Min. -7.5671E-5; Mean -2.0553048008591905E-5; Max. 3.39361E-5

Variable Format: numeric

Notes: UNF:6:GX2mup5HowhU2lVDRjDsew==

f286574 Location:

Summary Statistics: Valid 20001.0; StDev 2.8869678513970363; Mean 4.999999999999999; Max. 10.0; Min. 0.0

Variable Format: numeric

Notes: UNF:6:W4bvJ/eVdzgzUdIgb5l30g==

f286574 Location:

Summary Statistics: Valid 20001.0; Min. 2.0E-7; StDev 0.2886967851397031; Max. 1.0000002; Mean 0.5000002000000001

Variable Format: numeric

Notes: UNF:6:1JQ9MwAfpoXTnM31T2vL5w==

f286574 Location:

Summary Statistics: Mean 0.5000002142392881; StDev 0.2886964902273182; Valid 20001.0; Min. 1.8E-6; Max. 0.9999973;

Variable Format: numeric

Notes: UNF:6:918/ieQm5WGeUSgNGYdePw==

f286574 Location:

Summary Statistics: StDev 0.28869243925572596; Max. 0.999997834; Min. 8.70028E-6; Mean 0.49998616279456876; Valid 20001.0;

Variable Format: numeric

Notes: UNF:6:hAjbM7+7PfNtl/2sx2R6vQ==

f286574 Location:

Summary Statistics: Min. 1.524285064; Valid 20001.0; Max. 2.535950858; StDev 0.1392629805892055; Mean 1.9872148973879307;

Variable Format: numeric

Notes: UNF:6:MyeKD2AHofop2JlHHwvgVg==

f286574 Location:

Summary Statistics: Max. 7.3E-6; Mean -1.4239288821297494E-8; Valid 20001.0; Min. -5.9E-6; StDev 2.2848807917272348E-6;

Variable Format: numeric

Notes: UNF:6:CHFhHFWrnUN5djprSVmjQA==

f286574 Location:

Summary Statistics: Valid 20001.0; Min. -5.8305E-6; StDev 2.225367062510758E-6; Max. 7.13003E-6; Mean -5.432730378796034E-8;

Variable Format: numeric

Notes: UNF:6:eazOfsIKddCwf59Deyei1Q==

f286569 Location:

Summary Statistics: StDev 5.773574860228853; Valid 40000.0; Min. 0.0; Max. 19.9995; Mean 9.99975;

Variable Format: numeric

Notes: UNF:6:+wMz6YtX4pP48AoRYZlf2A==

f286569 Location:

Summary Statistics: Min. 1.0E-7; Valid 40000.0; Max. 0.9999751; StDev 0.2886787430114438; Mean 0.4999875999999998;

Variable Format: numeric

Notes: UNF:6:ihAdeG3lIE9VBinQDWAooA==

f286569 Location:

Summary Statistics: Max. 0.9999753; StDev 0.2886785843999209; Mean 0.4999876009199995; Valid 40000.0; Min. 1.9E-6

Variable Format: numeric

Notes: UNF:6:iTaeFu2PotrmKa7fUV/eAg==

f286569 Location:

Summary Statistics: StDev 0.2886745485175039; Min. 5.90019E-6; Max. 0.999972033; Valid 40000.0; Mean 0.49997058932166455

Variable Format: numeric

Notes: UNF:6:fOuRkgQ5YUzCJoOrwngsmQ==

f286569 Location:

Summary Statistics: Valid 40000.0; Max. 2.007011126; StDev 0.11760476499711879; Mean 1.535446941514375; Min. 1.04927494;

Variable Format: numeric

Notes: UNF:6:6c2fwN3yOBv66v4+k3TjBQ==

f286569 Location:

Summary Statistics: Mean -9.199962501771177E-10; Min. -4.1E-6; Max. 5.0E-6; StDev 1.5920318832481704E-6; Valid 40000.0;

Variable Format: numeric

Notes: UNF:6:hBJkMtnJmfA66cuWayViYw==

f286569 Location:

Summary Statistics: Mean -2.237417189072579E-8; StDev 1.551225376654053E-6; Max. 4.97413E-6; Valid 40000.0; Min. -4.105E-6

Variable Format: numeric

Notes: UNF:6:0E6faQARIUmXoKiww/q6xw==

f286566 Location:

Summary Statistics: Min. 0.0; StDev 3.849122075227033; Max. 13.333; Mean 6.666499999999999; Valid 26667.0

Variable Format: numeric

Notes: UNF:6:wZFs5wRdhRwAPXfSHa4jYg==

f286566 Location:

Summary Statistics: Valid 26667.0; Max. 1.0000001; StDev 0.2886841556420272; Mean 0.5000125999999998; Min. 2.51E-5;

Variable Format: numeric

Notes: UNF:6:jGUdvTJ0Nuw3oeoSNqRTaQ==

f286566 Location:

Summary Statistics: Max. 0.9999979; Valid 26667.0; StDev 0.2886839295852278; Mean 0.5000126008737387; Min. 2.69E-5

Variable Format: numeric

Notes: UNF:6:AF9qXGb8MhY872AbTmxCyQ==

f286566 Location:

Summary Statistics: Max. 0.999996734; Valid 26667.0; Mean 0.4999963491206426; StDev 0.28867984342655356; Min. 3.0801E-5

Variable Format: numeric

Notes: UNF:6:ZNkqfNlQ6z7/3txTDhZh3g==

f286566 Location:

Summary Statistics: StDev 0.11411415842860152; Mean 1.8139773232293845; Min. 1.374215877; Max. 2.294220752; Valid 26667.0

Variable Format: numeric

Notes: UNF:6:tXzzwlIHrZTCYoJiBrh4YA==

f286566 Location:

Summary Statistics: Max. 6.1E-6; Mean -8.737365539396222E-10; Valid 26667.0; StDev 1.9413338405938958E-6; Min. -5.1E-6;

Variable Format: numeric

Notes: UNF:6:61u45rGFNeLD2YVnXTi6PQ==

f286566 Location:

Summary Statistics: Valid 26667.0; Min. -5.12606E-6; Max. 5.9475E-6; Mean -3.4221660500566896E-8; StDev 1.92813810736711E-6;

Variable Format: numeric

Notes: UNF:6:wVSIkbj4lHLnzaKY1Lhdtg==

f286576 Location:

Summary Statistics: Valid 4001.0; Min. -4.43461E-6; Mean 5.743545378347925E-7; Max. 7.37284E-6; StDev 1.4803138489018162E-6

Variable Format: numeric

Notes: UNF:6:zEfou7T3bScnTy6O7EtFpg==

f286576 Location:

Summary Statistics: Mean 6.842609503853659E-7; Min. -1.53556E-6; Max. 4.27803E-6; StDev 1.0971741883690879E-6; Valid 4001.0

Variable Format: numeric

Notes: UNF:6:1dxcYNHNucXgAubg6+htPQ==

f286576 Location:

Summary Statistics: Valid 4001.0; Mean -1.103636033769061E-7; Max. 4.17101E-6; Min. -5.13949E-6; StDev 9.65404561591507E-7

Variable Format: numeric

Notes: UNF:6:aLXj6OQx3QzX2nocdhuh9A==

f286576 Location:

Summary Statistics: Mean 0.5002999250187453; Valid 4001.0; StDev 0.28878338555480393; Max. 1.0; Min. 0.0

Variable Format: numeric

Notes: UNF:6:pxXb7taMawlH1QGQVpM2wA==

f286576 Location:

Summary Statistics: StDev 3.157759964693056; Mean 5.38000722605649; Max. 9.89848485; Valid 4001.0; Min. 0.90270433;

Variable Format: numeric

Notes: UNF:6:ChSLiWjNsUesb5J2LUjv3A==

f286567 Location:

Summary Statistics: Min. 0.0; Valid 30811.0; Mean 7.7025; Max. 15.405; StDev 4.447256954198477;

Variable Format: numeric

Notes: UNF:6:a3DS9yWCd/Zo/pWwFLdHkg==

f286567 Location:

Summary Statistics: Min. 0.5; StDev 0.17497102107332166; Max. 0.999581911; Valid 30811.0; Mean 0.7450946583289733

Variable Format: numeric

Notes: UNF:6:RoTmw5Sq+jb3otkcoOFcKQ==

f286567 Location:

Summary Statistics: Max. 0.9995854; StDev 0.17497398500547132; Valid 30811.0; Min. 0.4999958; Mean 0.745094579026971

Variable Format: numeric

Notes: UNF:6:3jy965TQDNwg27pHwq1QQw==

f286567 Location:

Summary Statistics: Mean 0.7450724341687387; Min. 0.499966816; Max. 0.99955992; StDev 0.1749728732451592; Valid 30811.0

Variable Format: numeric

Notes: UNF:6:DO6I7JWZPrU4hjc3J9bvSg==

f286567 Location:

Summary Statistics: Mean 7.929792301364026E-8; StDev 3.0210153219941142E-6; Valid 30811.0; Min. -5.58472E-6; Max. 6.04899E-6;

Variable Format: numeric

Notes: UNF:6:FEEXLyY6eq1EZOk9ug2nhw==

f286567 Location:

Summary Statistics: Mean 2.089734639862355E-6; StDev 8.096399833436074E-5; Valid 30811.0; Min. -2.32656E-4; Max. 0.001489448

Variable Format: numeric

Notes: UNF:6:rt+JZ4onvZFUkMCfhPo6nw==

f286570 Location:

Summary Statistics: Mean 7.7025; Valid 30811.0; Min. 0.0; StDev 4.447256954198477; Max. 15.405

Variable Format: numeric

Notes: UNF:6:a3DS9yWCd/Zo/pWwFLdHkg==

f286570 Location:

Summary Statistics: Mean 0.7450946508785818; StDev 0.17497108307652998; Max. 0.999582311; Min. 0.5; Valid 30811.0;

Variable Format: numeric

Notes: UNF:6:EZzB+7ENs1TNIC9lHoNH7A==

f286570 Location:

Summary Statistics: StDev 0.17497405395266477; Mean 0.7450944678718642; Max. 0.9995867; Valid 30811.0; Min. 0.4999957

Variable Format: numeric

Notes: UNF:6:TsgEVgGDBdufYvSpPzTtkQ==

f286570 Location:

Summary Statistics: Max. 0.99955992; Mean 0.7450719113880108; Min. 0.499966716; StDev 0.17497270233517448; Valid 30811.0

Variable Format: numeric

Notes: UNF:6:g/ejn0lCE4cW73bBm7ngUQ==

f286570 Location:

Summary Statistics: Mean 1.8300573481500365E-7; Valid 30811.0; Min. -7.568E-6; Max. 2.95569E-5; StDev 3.638102760619539E-6;

Variable Format: numeric

Notes: UNF:6:zdP62u/SZK3E4EdMQgFtpA==

f286570 Location:

Summary Statistics: Valid 30811.0; Max. 0.0; Min. 0.0; StDev 0.0; Mean 0.0;

Variable Format: numeric

Notes: UNF:6:fiG7YXRUHXl9M02mIhwyRg==

f286572 Location:

Summary Statistics: StDev 2.8868103981372712; Valid 220004.0; Mean 4.99993181942146; Min. 0.0; Max. 10.0;

Variable Format: numeric

Notes: UNF:6:CSM0tow391+Zp3bKKh0CRA==

f286572 Location:

Summary Statistics: Min. -1.0E-6; Mean 0.499992409222105; Valid 220004.0; Max. 1.0; StDev 0.28868103973479103;

Variable Format: numeric

Notes: UNF:6:rYsc7aZezkRypRNcEnspeg==

f286572 Location:

Summary Statistics: StDev 1581.136314655155; Valid 220004.0; Min. -5000.0; Mean -2500.0068180594876; Max. 0.0

Variable Format: numeric

Notes: UNF:6:3XVvxsA9rKdcOytEpEBIRg==

f286572 Location:

Summary Statistics: Max. 16.25898536; Mean 8.765547235941362; Min. 1.293090067; Valid 220004.0; StDev 4.14362351169902

Variable Format: numeric

Notes: UNF:6:cY8XP9Po2/RdWKgvlfmk1g==

f286572 Location:

Summary Statistics: Min. 3.0E-7; Valid 220004.0; Mean 0.49999237108052574; StDev 0.28868104120522375; Max. 0.9999999

Variable Format: numeric

Notes: UNF:6:ojQzsFuWtD+WD35K6vedug==

f286572 Location:

Summary Statistics: Valid 220004.0; Mean 0.5000201970200004; Max. 1.000070736; StDev 0.28867692148463775; Min. 8.90029E-6

Variable Format: numeric

Notes: UNF:6:HEs34ASRLkX44H/iyrNAIw==

f286572 Location:

Summary Statistics: Max. 3.6E-6; Mean 3.81415758815814E-8; Min. -3.5E-6; StDev 6.894902145309027E-7; Valid 220004.0

Variable Format: numeric

Notes: UNF:6:m9ak7rokjLMkcl+PwHxwdw==

f286572 Location:

Summary Statistics: Max. 2.84723E-4; Valid 220004.0; Min. -2.37974E-4; Mean -8.797528457284614E-7; StDev 7.294029980430165E-5;

Variable Format: numeric

Notes: UNF:6:I+luoCjSG897lgm00ScYgA==

f286571 Location:

Summary Statistics: StDev 2.8868235165135956; Valid 220005.0; Max. 10.0; Min. 0.0; Mean 5.000136360537261

Variable Format: numeric

Notes: UNF:6:MyeuBjrHznkKYOyWjOZ1Dg==

f286571 Location:

Summary Statistics: Min. -1.0E-7; StDev 0.28868235162239037; Valid 220005.0; Mean 0.5000129087998001; Max. 1.0000002;

Variable Format: numeric

Notes: UNF:6:TD4tyVdQGtMmEbFCt7p3Jg==

f286571 Location:

Summary Statistics: StDev 1581.1427826570475; Mean -2499.9750005679275; Min. -5000.0; Valid 220005.0; Max. 0.0;

Variable Format: numeric

Notes: UNF:6:R0NF1CdsVI811pwkfe2+bA==

f286571 Location:

Summary Statistics: Mean 8.782247531499365; Min. 1.524285064; Valid 220005.0; Max. 15.72882487; StDev 4.14778118926682

Variable Format: numeric

Notes: UNF:6:E9jp3WyFDInzTPNrPsbGUA==

f286571 Location:

Summary Statistics: StDev 0.2886820569879571; Valid 220005.0; Mean 0.500012930462944; Min. 1.0E-7; Max. 0.9999973

Variable Format: numeric

Notes: UNF:6:ETxbnLbKoi1afkB1ts2iXQ==

f286571 Location:

Summary Statistics: Min. 8.70028E-6; Valid 220005.0; StDev 0.28867791600469606; Mean 0.5000405994787325; Max. 1.000065736;

Variable Format: numeric

Notes: UNF:6:w+3oYZpJaueN+KyW80DECQ==

f286571 Location:

Summary Statistics: Max. 7.3E-6; Valid 220005.0; Min. -6.4E-6; Mean -2.1663145078863724E-8; StDev 1.9998719225581732E-6

Variable Format: numeric

Notes: UNF:6:pumj93BySyf1MsCTnMhWeg==

f286571 Location:

Summary Statistics: StDev 0.0; Min. 0.0; Max. 0.0; Valid 220005.0; Mean 0.0

Variable Format: numeric

Notes: UNF:6:NwGpvngl62aWgaFgxhMEpQ==

f286568 Location:

Summary Statistics: Mean 9.999954545764439; Valid 440003.0; Min. 0.0; StDev 5.773548620523802; Max. 20.0

Variable Format: numeric

Notes: UNF:6:Oinjuz+8eOePBTstPuJQgg==

f286568 Location:

Summary Statistics: Max. 1.0000001; StDev 0.28867743098927584; Mean 0.4999970000202272; Valid 440003.0; Min. -2.0E-7;

Variable Format: numeric

Notes: UNF:6:keDTSa7r8LmoTmOwFwgvZA==

f286568 Location:

Summary Statistics: Valid 440003.0; Max. 0.0; StDev 1581.1368536673956; Mean -2500.00113635012; Min. -5000.0;

Variable Format: numeric

Notes: UNF:6:hX7YWMZ21U/m5QOfjoSqIQ==

f286568 Location:

Summary Statistics: Max. 15.73182652; Min. 1.019136631; Mean 8.331750626552543; StDev 4.146482555597637; Valid 440003.0;

Variable Format: numeric

Notes: UNF:6:/KLDjeVQZxmwHyuF5UaizQ==

f286568 Location:

Summary Statistics: Max. 0.9999998; Min. 2.0E-7; Mean 0.4999969821689849; Valid 440003.0; StDev 0.2886774346356998

Variable Format: numeric

Notes: UNF:6:+QRd5ICiA1kxWXjj4Uj8lA==

f286568 Location:

Summary Statistics: Mean 0.5000233273990259; Min. 6.60021E-6; Valid 440003.0; Max. 1.000069636; StDev 0.28867328425090427;

Variable Format: numeric

Notes: UNF:6:UJNp7n6NZQMwQj0LvEN5TA==

f286568 Location:

Summary Statistics: Valid 440003.0; Max. 2.8E-6; Mean 1.7851255408052915E-8; StDev 5.526855379382267E-7; Min. -2.5E-6

Variable Format: numeric

Notes: UNF:6:MfQiGiGiyvvjjSoUY/7aRA==

f286568 Location:

Summary Statistics: Valid 440003.0; Min. -2.17694E-4; Max. 2.30416E-4; StDev 3.7409731110186965E-5; Mean -4.267221409147613E-7;

Variable Format: numeric

Notes: UNF:6:HvuM60uvVdjaNEfBTcVh5A==

f286565 Location:

Summary Statistics: Mean 10.0001136353306; Valid 440004.0; StDev 5.773561740868489; Min. 0.0; Max. 20.0

Variable Format: numeric

Notes: UNF:6:+ZJk1Z+r4HyybinBPmp08g==

f286565 Location:

Summary Statistics: Max. 1.0000001; StDev 0.2886780870276476; Min. -1.0E-7; Valid 440004.0; Mean 0.5000049181375623

Variable Format: numeric

Notes: UNF:6:5IXNsyK5okmfJbH6IsUgww==

f286565 Location:

Summary Statistics: Valid 440004.0; Min. -5000.0; Mean -2499.9897728246196; Max. 0.0; StDev 1581.138650381974;

Variable Format: numeric

Notes: UNF:6:nGGr+ZMnAGkuZES+bAndqA==

f286565 Location:

Summary Statistics: Max. 14.96815793; StDev 4.1524447017354635; Valid 440004.0; Min. 1.04927494; Mean 8.336800471884441

Variable Format: numeric

Notes: UNF:6:Bsp/NRhHXyN/AxhW5egsjQ==

f286565 Location:

Summary Statistics: Max. 0.9999995; Min. 2.0E-7; StDev 0.288677929221449; Valid 440004.0; Mean 0.5000049251040903;

Variable Format: numeric

Notes: UNF:6:+bxU2awJb3rt8oKxsrHnfg==

f286565 Location:

Summary Statistics: Min. 5.90019E-6; Max. 1.000067136; StDev 0.28867381701122463; Valid 440004.0; Mean 0.5000307892210271;

Variable Format: numeric

Notes: UNF:6:o8+50zHF1/V1fne3an/4ug==

f286565 Location:

Summary Statistics: Max. 5.0E-6; Min. -4.2E-6; Valid 440004.0; Mean -6.966522370316832E-9; StDev 1.3292465693496638E-6;

Variable Format: numeric

Notes: UNF:6:kgTLSHCgmyN0yMw+mYK1+g==

f286565 Location:

Summary Statistics: Mean 0.0; Max. 0.0; Min. 0.0; StDev 0.0; Valid 440004.0

Variable Format: numeric

Notes: UNF:6:bntZeyO79h/Or1YonM45iA==

f286573 Location:

Summary Statistics: Min. 0.0; Max. 13.333; StDev 3.8490302244503716; Mean 6.666454546849159; Valid 293335.0

Variable Format: numeric

Notes: UNF:6:uYcGde6B6iXxeKUGUdL5NA==

f286573 Location:

Summary Statistics: Max. 1.0000003; StDev 0.28867726682838074; Min. 2.05E-5; Mean 0.5000083728266318; Valid 293335.0;

Variable Format: numeric

Notes: UNF:6:ueejGF/REKatqUQ5c8Dqlg==

f286573 Location:

Summary Statistics: Mean -2500.0051136116526; StDev 1581.1444898123207; Min. -5000.0; Max. 0.0; Valid 293335.0

Variable Format: numeric

Notes: UNF:6:eC4/PUJ6HVDYxjhKhjIwSw==

f286573 Location:

Summary Statistics: Min. 1.25483257; Valid 293335.0; StDev 4.145008028158693; Max. 16.02745857; Mean 8.56951271192833

Variable Format: numeric

Notes: UNF:6:FuJhQY7GlHce6JuDt3Mu4Q==

f286573 Location:

Summary Statistics: Max. 0.9999999; StDev 0.2886772667403952; Mean 0.5000083401561356; Valid 293335.0; Min. 2.11E-5

Variable Format: numeric

Notes: UNF:6:ozvMgI/bZdQ/D4fYQjQZ2g==

f286573 Location:

Summary Statistics: Min. 3.1301E-5; Valid 293335.0; Max. 1.000068936; StDev 0.2886731285505785; Mean 0.5000345162467247

Variable Format: numeric

Notes: UNF:6:e99ZZ9dnCjs2JlZQS++/4g==

f286573 Location:

Summary Statistics: Max. 3.1E-6; Min. -3.1E-6; Mean 3.267050466914461E-8; StDev 5.96900766803947E-7; Valid 293335.0;

Variable Format: numeric

Notes: UNF:6:h6abJkW7rS5bK6Nz9tykFg==

f286573 Location:

Summary Statistics: Max. 2.12011E-4; Mean -6.984353538522618E-7; Valid 293335.0; StDev 5.520128168501795E-5; Min. -1.92156E-4;

Variable Format: numeric

Notes: UNF:6:OCTRLmC2IVGjqVKhqEAehQ==

f286575 Location:

Summary Statistics: Max. 13.333; Min. 0.0; Valid 293337.0; Mean 6.666500000000001; StDev 3.849056465228922

Variable Format: numeric

Notes: UNF:6:gLx6RjGzk23lVenxHXEfPQ==

f286575 Location:

Summary Statistics: StDev 0.2886792348959971; Valid 293337.0; Mean 0.5000117272727274; Max. 1.0000001; Min. 2.03E-5;

Variable Format: numeric

Notes: UNF:6:/jq/byAANBkSiM9ZmK0SRw==

f286575 Location:

Summary Statistics: Mean -2500.0; StDev 1581.1415251803976; Max. 0.0; Min. -5000.0; Valid 293337.0

Variable Format: numeric

Notes: UNF:6:iayHPNO+5oWBu3nmABb9Ww==

f286575 Location:

Summary Statistics: StDev 4.1431240590149185; Mean 8.58860869774579; Min. 1.374215877; Valid 293337.0; Max. 15.32928236

Variable Format: numeric

Notes: UNF:6:cG9G+JeFd4404TqwVC41OQ==

f286575 Location:

Summary Statistics: Mean 0.5000117381680458; Min. 2.02E-5; Max. 0.9999979; Valid 293337.0; StDev 0.2886790078767244

Variable Format: numeric

Notes: UNF:6:nCUjhZR62TiIiRWp5D1qzA==

f286575 Location:

Summary Statistics: StDev 0.2886748541788842; Max. 1.000065036; Valid 293337.0; Min. 3.0801E-5; Mean 0.5000374968096657;

Variable Format: numeric

Notes: UNF:6:6IHVTNkip8TT4OZEWoluLQ==

f286575 Location:

Summary Statistics: StDev 1.6725334676580186E-6; Max. 6.1E-6; Mean -1.0895315846275098E-8; Min. -5.1E-6; Valid 293337.0;

Variable Format: numeric

Notes: UNF:6:G6nitqzXZKumYBbV029qdA==

f286575 Location:

Summary Statistics: Min. 0.0; Max. 0.0; StDev 0.0; Valid 293337.0; Mean 0.0;

Variable Format: numeric

Notes: UNF:6:bUoAIA7lMpefRrK3YVey2A==

Label:

Fig_2_TE_measurements.xlsx

Text:

Measured transmission errors of the examined rack-and-pinion drive in both directions of motion under varying external load.

application/vnd.openxmlformats-officedocument.spreadsheetml.sheet

Label:

Fig_4_Path_errors.xlsx

Text:

Comparison of calculated and measured path errors for different velocities with no external load.

application/vnd.openxmlformats-officedocument.spreadsheetml.sheet

Label:

Fig_6_Model_training.xlsx

Text:

Training data for the deformation regression models and the predictions of the trained neural network and the regression tree ensemble.

application/vnd.openxmlformats-officedocument.spreadsheetml.sheet

Label:

Fig_8_Compensation_validation_sine.xlsx

Text:

Evaluation of the compensation of the transmission errors and backlash for a sinusoidal trajectory.

application/vnd.openxmlformats-officedocument.spreadsheetml.sheet

Label:

Fig_9_Compensation_validation_overall.xlsx

Text:

Evaluation of the improvement of the path accuracy by the compensation for varying loads and velocities.

application/vnd.openxmlformats-officedocument.spreadsheetml.sheet