Developing an Efficient Calibration System for Joint Offset of Industrial Robots

Table 1

DH parameters of the ABB IRB1600 manipulator.

Joint	𝑎 (mm)	𝛼 (rad)	𝑑 (mm)	𝜃 (rad)
1	150	−𝜋/2	486.5	0
2	700	0	0	−𝜋/2
3	0	𝜋/2	0	𝜋
4	0	−𝜋/2	600	0
5	0	𝜋/2	0	0
6	0	0	0	0