## 4 Results  
Table 4 lists averages of 10 measurements at 100% speed and under a 100% load. The table contains values recorded by GEPARD at measuring points P1 to P10, namely in both directions.  
These obtained values were used for calculating path-deviation values resulting from positioning. Positioning accuracy was then calculated as the utmost distance between the programmed path and the barycenters \(Gi\) for \(n\) measurements at each of the number of measuring points along the path.  
Figures 16 and 17 show the measured averages of all measurements. It can be said that the measurements were almost identical, and the robot did not manifest any abrupt deviations. These values served for the subsequent calculation of the path-accuracy values, and those are shown in Figure 18. The manufacturer does not state path-accuracy values for this robot type, so these charts only aim to gain a better orientation in the topic.  
Table 5 lists averages of 10 measurements at 50% speed and under a 100% load. The table shows values recorded using GEPARD at the measuring points P1 to P10, namely in both directions.  
Figure 16: Plot of values for axis x with maximum speed 1000 mm/s.  
Figure 17: Plot of values for axis y with maximum speed 1000 mm/s.  
Figure 18: Path accuracy under a 100% load and at 100% speed.  
\begin{table}
\begin{tabular}{c c c c} \hline \hline
**P** & **X** & **Y** & **AT** \\ \hline
1 & 0.604 & 0.253 & 0.6552 \\
2 & 0.087 & 0.078 & 0.1170 \\
3 & \(-0.151\) & \(-0.039\) & 0.1567 \\
4 & \(-0.259\) & \(-0.174\) & 0.3125 \\
5 & \(-0.366\) & \(-0.155\) & 0.3977 \\
6 & \(-0.243\) & \(-0.160\) & 0.2914 \\
7 & \(-0.185\) & \(-0.093\) & 0.2078 \\
8 & \(-0.128\) & 0.007 & 0.1289 \\
9 & 0.099 & 0.103 & 0.1432 \\
10 & 0.540 & 0.181 & 0.5735 \\
10 & 0.509 & 0.232 & 0.5593 \\
9 & 0.088 & 0.096 & 0.1309 \\
8 & \(-0.125\) & \(-0.027\) & 0.1282 \\ \hline \hline \end{tabular}
\end{table}
Table 5: Contains measurements at 50% speed and under a full load (mm).  
Figures 19 and 20 show measurements plotted at half the speed and maximum load for axes x and y. These measurements did not manifest any abrupt changes compared to previous measurements at maximum speed. The obtained values served as a basis for calculating the path-accuracy values shown in Figure 21.  
Overall measurements involving all three-speed options and the overall path accuracy are plotted in Figures 22 and 23. For better clarity, each direction is shown separately.  
Figure 21: Path accuracy at 50% speed and under a 100% load.  
Figure 19: Plot of values for axis x at \(a\) maximum speed of 500 mm/s.  
Figure 20: Plot of values for axis y at a maximum speed of 500 mm/s.  
\begin{table}
\begin{tabular}{c c c c} \hline
**P** & **X** & **Y** & **AT** \\ \hline
7 & \(-0.188\) & \(-0.154\) & \(0.2435\) \\
6 & \(-0.328\) & \(-0.147\) & \(0.3604\) \\
5 & \(-0.228\) & \(-0.166\) & \(0.2822\) \\
4 & \(-0.194\) & \(-0.130\) & \(0.2337\) \\
3 & \(-0.132\) & \(-0.024\) & \(0.1345\) \\
2 & \(0.122\) & \(0.095\) & \(0.1553\) \\
1 & \(0.477\) & \(0.224\) & \(0.5278\) \\ \hline \end{tabular}
\end{table}
Table 5: _Cont._Figures 22 and 23 present the total measurements performed and the path-accuracy results achieved at measuring points P1 to P10. In the ISO cube, these points are also referred to as points C2 to C8.