IMU-Based Online Kinematic Calibration of Robot Manipulator

Table 2

Estimated parameter errors of 6 DOF robot.

Error	Joint
	1	2	3	4	5	6
Δ𝑎 (mm)	2.8759	2.6679	4.5582	2.5580	4.4248	3.1172
Δ𝛼 (°)	0.0088	0.6855	−0.2482	−0.6892	−0.0974	−0.9373
Δ𝑑 (mm)	3.1049	2.9095	4.5347	0.1594	2.7675	3.4382
Δ𝜃 (°)	0.2441	1.3982	1.2752	0.2644	1.5575	−0.6128