Research Article
Error Modeling in Distance and Rotation for Self-Calibration of Space Robots on Orbit
Table 8
Calibration residuals by the distance and rotation error model.
| Joint | (m) | (°) | (m) | (°) | (°) |
| 1 | 0.00000 | 0.00000 | 0.00000 | 0.00000 | 0.00000 | 2 | 0.00056 | 0.00050 | 0.00051 | 0.00176 | −0.04111 | 3 | 0.00041 | −0.00313 | 0.00015 | 0.03701 | 0.00586 | 4 | 0.00081 | 0.00485 | −0.00861 | 0.01164 | 0.01368 | 5 | 0.00053 | −0.00637 | 0.01005 | 0.00310 | −0.04298 | 6 | 0.00048 | −0.01963 | 0.00047 | −0.05903 | −0.02700 | 7 | −0.00159 | −0.01215 | 0.00045 | −0.00042 | −0.03749 |
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