Calibration of Collaborative Robots Based on Position Information and Local Product of Exponentials

Table 2

The setting error of the robot.

Joint	δpi	δsi	δqi
0-1	(0, 0.001, 0.002, 2, 1.5, 0.5)	(0, 0, 0, 0, sin (0.01), (0.01))	0
1-2	(0, 0.002, 0.003, -2, 1.2, 2.4)	(0, 0, 0, 0, -sin (0.015), - (0.015))	0.03
2-3	(0.001, 0.004, 0.003, 2, -1, 2)	(0, 0, 0, sin (0.023), 0, (0.023))	0.01
3-4	(0.001, 0.005, 0.002, 2, 1.5, -1)	(0, 0, 0, -sin (0.004), 0, (0.004))	0.02
4-5	(0.002, 0.003, 0, -1, 1.6, 2.3)	(0, 0, 0, 0, sin (0.031), - (0.031))	0.015
5-6	(0.003, 0.001, -0.004, 2, 3, 1)	(0, 0, 0, sin (0.013), 0, - (0.013))	0.02
6-7	(0.005, 0.002, -0.003, 1.6, 2, 3.2)	—	—