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Complexity
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2021
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Article
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Tab 2
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Research Article
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
Δ
α
i
−1
(°)
Δ
a
i
−1
(mm)
Δ
θ
i
(°)
Δ
d
i
(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