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	αi−1(°)	ai−1(mm)	θi(°)	di (mm)
1	0	0	θ1	504
2	90	166.605	−90 + θ2	0
3	0	−782.27	θ3	0
4	−90	−138.826	θ4	761.35
5	90	0	θ5	0
6	−90	0	θ6	125