Research Article
Geometric Parameter Identification of a 6-DOF Space Robot Using a Laser-Ranger
Table 2
Pre-assumed geometrical Parameter Errors.
| Link Number | /mrad | /mrad | /mm | /mm | /mrad |
| 1 | −7.23 | −3.22 | 0.23 | 0.73 | — | 2 | 0.52 | 0.13 | 1.94 | — | 1.45 | 3 | 0.56 | −2.23 | 0.11 | 0.34 | — | 4 | 0.36 | 1.92 | 0.18 | 1.35 | — | 5 | −5.52 | −4.83 | 0.27 | 0.29 | — | 6 | −0.34 | 0.62 | 0.47 | 0.85 | −3.36 |
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