Kinematic Calibration of Industrial Robots Based on Distance Information Using a Hybrid Identification Method

Table 2

Settings of the kinematic parameters’ error.

No. of joints	Δαi−1 (°)	Δai−1 (mm)	Δθi(°)	Δdi (mm)
1	0	0	0	0
2	0.02	1.0	0.03	−0.3
3	−0.01	0.5	0.04	0
4	0.015	−0.4	0.06	0.85
5	−0.01	−0.3	0.05	0
6	−0.06	0	0	−0.4