Error Modeling in Distance and Rotation for Self-Calibration of Space Robots on Orbit

Table 7

Calibration residuals by the distance error model.

Joint	(m)	(°)	(m)	(°)	(°)
1	0.00000	0.00000	0.00000	0.00000	0.00000
2	0.00054	0.00445	0.00094	0.00038	−0.04111
3	0.00063	0.01097	0.00015	0.03997	0.11269
4	0.00355	0.00632	−0.00861	0.01106	0.15176
5	0.00442	−0.07475	0.02887	0.05620	−0.04298
6	0.00012	−0.20839	−0.00284	−0.01352	−0.02700
7	−0.00194	−0.29798	0.00152	−0.00042	−0.03749