Geometric Parameter Identification of a 6-DOF Space Robot Using a Laser-Ranger

Table 3

Identified geometrical parameter errors for the first case.

Link Number	Δ𝜃𝑛/mrad	Δ𝛼𝑛/mrad	Δ𝑎𝑛/mm	Δ𝑑𝑛/mm	Δ𝛽𝑛/mrad
1	−7.8525	−2.4425	−2.1491	0.5724	—
2	1.2119	0.0553	1.6291	—	1.1436
3	0.0949	−1.5013	1.3863	0.2838	—
4	0.2936	2.6439	0.3531	1.2179	—
5	−5.2130	−3.8485	−0.0797	0.2895	—
6	0.5628	0.5207	0.8714	0.7422	−3.7951