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

Table 9

Calibration residuals by the absolute pose error model.

Joint	(m)	(°)	(m)	(°)	(°)
1	0.00000	0.00000	0.00000	0.00000	0.00000
2	0.00017	0.00140	−0.00024	0.00247	−0.04111
3	0.00016	0.00262	0.00015	0.04160	0.00187
4	−0.00005	0.00014	−0.00861	−0.00283	0.00287
5	−0.00009	0.00569	0.00890	0.00251	−0.04298
6	0.00005	−0.00458	−0.00003	−0.04436	−0.02700
7	−0.00006	0.00457	−0.00003	−0.02722	0.00050