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

Table 4

The identified error with PSO in simulations.

Number of linkage	(mm)	(mm)	(°)	(°)
1	0.0994	0.0508	0.01	0.01
2	0.0577	0.5017	0.0146	0.005
3	0.065	−0.3564	0.0022	0.0149
4	0.0396	0.0115	0.012	0.0065
5	0.035	0.9515	0.0039	0.0043
6	0.229	0.0098	0.9910	−0.0260