IMU-Based Online Kinematic Calibration of Robot Manipulator

Table 1

The nominal link parameters in DH model for the GOOGOL GRB3016 robot.

Joints	DH
	𝑎	𝛼	𝑑	𝜃
1	150	−𝜋/2	250	0
2	570	−𝜋	0	−𝜋/2
3	150	𝜋/2	0	0
4	0	−𝜋/2	650	0
5	0	−𝜋/2	0	−𝜋/2
6	0	0	−200	0