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