An optimal method for calculating an average screw axis for a joint, with improved sensitivity to noise and providing an analysis of the dispersion of the instantaneous axes

• Andrea Ancillao ,

  Contributed equally to this work with: Andrea Ancillao, Maxim Vochten, Arno Verduyn, Joris De Schutter, Erwin Aertbeliën

  Roles Conceptualization, Data curation, Formal analysis, Methodology, Project administration, Resources, Software, Supervision, Validation, Visualization, Writing – original draft, Writing – review & editing

  * E-mail: andrea.ancillao@kuleuven.be

  Affiliations Robotics Research Group, Department of Mechanical Engineering, KU Leuven, Leuven, Belgium, Flanders Make, Core Lab ROB, KU Leuven, Leuven, Belgium

  https://orcid.org/0000-0002-3401-967X

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• Maxim Vochten ,

  Contributed equally to this work with: Andrea Ancillao, Maxim Vochten, Arno Verduyn, Joris De Schutter, Erwin Aertbeliën

  Roles Conceptualization, Data curation, Formal analysis, Methodology, Resources, Validation, Visualization, Writing – original draft, Writing – review & editing

  Affiliations Robotics Research Group, Department of Mechanical Engineering, KU Leuven, Leuven, Belgium, Flanders Make, Core Lab ROB, KU Leuven, Leuven, Belgium

  https://orcid.org/0000-0001-5070-846X

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• Arno Verduyn ,

  Contributed equally to this work with: Andrea Ancillao, Maxim Vochten, Arno Verduyn, Joris De Schutter, Erwin Aertbeliën

  Roles Conceptualization, Visualization

  Affiliations Robotics Research Group, Department of Mechanical Engineering, KU Leuven, Leuven, Belgium, Flanders Make, Core Lab ROB, KU Leuven, Leuven, Belgium

  https://orcid.org/0000-0002-5073-3881

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• Joris De Schutter ,

  Contributed equally to this work with: Andrea Ancillao, Maxim Vochten, Arno Verduyn, Joris De Schutter, Erwin Aertbeliën

  Roles Conceptualization, Funding acquisition, Investigation, Methodology, Project administration, Resources, Supervision, Writing – review & editing

  Affiliations Robotics Research Group, Department of Mechanical Engineering, KU Leuven, Leuven, Belgium, Flanders Make, Core Lab ROB, KU Leuven, Leuven, Belgium

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• Erwin Aertbeliën

  Contributed equally to this work with: Andrea Ancillao, Maxim Vochten, Arno Verduyn, Joris De Schutter, Erwin Aertbeliën

  Roles Conceptualization, Funding acquisition, Investigation, Methodology, Project administration, Resources, Supervision, Writing – review & editing

  Affiliations Robotics Research Group, Department of Mechanical Engineering, KU Leuven, Leuven, Belgium, Flanders Make, Core Lab ROB, KU Leuven, Leuven, Belgium

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