SPI-BoTER, a physics-informed Transformer with sparse attention masks and a distance-matrix loss, reports 0.2515 mm mean 3D positioning error for UR5 robot arm error compensation, a 35.16% reduction over a standard DNN.
Study of Orientation Error on Robot End E ffector and V olumetric Error of Articulated Robot, 2019, 9(23): 5149
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SPI-BoTER: Error Compensation for Industrial Robots via Sparse Attention Masking and Hybrid Loss with Spatial-Physical Information
SPI-BoTER, a physics-informed Transformer with sparse attention masks and a distance-matrix loss, reports 0.2515 mm mean 3D positioning error for UR5 robot arm error compensation, a 35.16% reduction over a standard DNN.