Research Article
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 |
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