Geometric Parameter Identification of a 6-DOF Space Robot Using a Laser-Ranger

Table 5

Comparison of position and orientation errors in the validation configuration.

Error item		RMS position error/mm	RMS orientation error/mrad	Maximum position error/mm	Maximum orientation error/mrad
Nominal parameter	x	2.7612	3.1491	11.7347	16.1688
	y	2.5917	3.2196	18.6857	17.0006
	z	2.2119	2.3480	8.5899	9.9512
Identified parameter for the first case	x	0.9921	0.7003	4.9654	3.2981
	y	1.0148	1.6199	4.6951	7.3035
	z	1.0524	0.5910	4.3151	2.7741
Identified parameter for the second case	x	0.3427	0.2273	1.9067	0.9378
	y	0.2974	0.3374	1.4779	1.2271
	z	0.3785	0.7671	1.5664	2.3669