Hybrid Optimal Kinematic Parameter Identification for an Industrial Robot Based on BPNN-PSO

Table 1

Nominal values of DH kinematic parameters of the industrial robot.

Number of linkage	(mm)	(mm)	(°)	(°)
1	0	504	θ 1	0
2	166.605	0	θ 2	−90
3	782.270	0	θ 3	0
4	138.826	761.35	θ 4	−90
5	0	0	θ 5	90
6	0	125	θ 6	−90