Research Article
Geometric Parameter Identification of a 6-DOF Space Robot Using a Laser-Ranger
Table 4
Identified geometrical parameter errors for the second case.
| Link Number | /mrad | /mrad | /mm | /mm | /mrad |
| 1 | −7.0607 | −2.8193 | −0.1191 | 0.1555 | — | 2 | 0.8234 | 0.2574 | 1.6439 | — | 1.4527 | 3 | 0.3428 | −2.0967 | 1.0172 | −0.5597 | — | 4 | 0.5364 | 2.2958 | 0.0014 | 1.4096 | — | 5 | −5.6786 | −4.2081 | 0.3607 | 0.6214 | — | 6 | 1.4004 | 0.4974 | 0.4545 | 0.4274 | −3.3556 |
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