Purpose In typical model-based calibration, linearization errors are derived inevitably, and non-negligible negative … minimizing the linearization errors is presented for a six-DoF serial robot to improve the calibration accuracy. Design …/methodology/approach The negative impact of linearization on identification accuracy is minimized by removing the responsible linearized …

. Thus, in recent years, several exact linearization approaches have been proposed. These approaches are based on different … underlying linearization ideas. Establishing a generic problem, we discuss the two ideas in a unified way by presenting two … under which context-specific conditions certain elements of the generic linearization can be omitted, potentially serving as …

selection of linearization points substantially affects the tightness of the lower bounding linear problem. Established methods … for the computation of such linearization points, e.g., the sandwich algorithm, are already available for the auxiliary … proposed for the (multivariate) McCormick relaxations. The difficulty of determining a good set of linearization points for the …