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Complexity
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2021
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Article
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Tab 1
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Research Article
Kinematic Calibration of Industrial Robots Based on Distance Information Using a Hybrid Identification Method
Table 1
Nominal values of robot’s MDH model parameters.
No. of joints
α
i
−1
(°)
a
i
−1
(mm)
θ
i
(°)
d
i
(mm)
1
0
0
θ
1
504
2
90
166.605
−90 +
θ
2
0
3
0
−782.27
θ
3
0
4
−90
−138.826
θ
4
761.35
5
90
0
θ
5
0
6
−90
0
θ
6
125