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

Table 6

The identified error with PSO in experiments.

Number of linkage	(mm)	(mm)	(°)	(°)
1	−0.303	1.055	0.292	0.006
2	0.323	−1.227	0.039	0.006
3	0.389	−1.380	0.063	−0.074
4	−1.487	−1.400	0.069	0.229
5	0.204	−1.385	0.441	−0.304
6	0.053	0.572	0.195	0.338