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

Table 3

The settings of kinematic parameter errors.

Number of linkage	(mm)	(mm)	(°)	(°)
1	0 + 0.1	504+ 0.05	θ 1,c + 0.01	0 + 0.01
2	166.605+ 0.05	0 + 0.1	θ 2,c + 0.015	−90+ 0.005
3	782.270+ 0.065	0 + 0.05	θ 3,c + 0.003	0 + 0.015
4	138.826+ 0.06	761.35+ 0.008	θ 4,c + 0.012	−90+ 0.006
5	0 + 0.03	0 + 0.36	θ 5,c + 0.008	90+ 0.004
6	0 + 0.25	125+ 0.01	θ 6,c + 0.025	−90+ 0.125