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

Table 5

The identified error with BPNN-PSO in simulations.

Number of linkage	(mm)	(mm)	(°)	(°)
1	0.1000	0.0503	0.0101	0.01
2	0.0508	−0.1087	0.0149	0.0049
3	0.0643	0.2521	0.0028	0.0148
4	0.0561	0.0086	0.0129	0.0064
5	0.0306	−0.3314	0.0352	0.0046
6	0.3562	0.0122	0.2028	0.3001