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

Table 7

The identified error with BPNN-PSO in experiments.

Number of linkage	(mm)	(mm)	(°)	(°)
1	−0.3025	1.055	0.292	0.006
2	0.352	−1.515	0.040	0.009
3	0.381	−1.545	0.063	−0.037
4	−1.487	−1.527	0.069	0.286
5	0.204	−1.374	0.172	−0.281
6	0.033	0.592	0.447	0.332