Research Article
Evolutionary Robot Calibration and Nonlinear Compensation Methodology Based on GA-DNN and an Extra Compliance Error Model
Table 1
The nominal and identified MDH parameters of the Staubli RX160L robot.
| i | θi (°) | di mm | ai mm | αi (°) | βi (°) | Nom. | Iden. | Nom. | Iden. | Nom. | Iden. | Nom. | Iden. | Nom. | Iden. |
| 1 | 0 | 0.0272 | 0 | −1.0050 | 150 | 150.7542 | −90 | −90 | — | — | 2 | −90 | −89.9518 | — | — | 825 | 825.4951 | 0 | 0.0135 | 0 | −0.0484 | 3 | 90 | 90.5940 | 0 | 0.5650 | 0 | 0.1124 | 90 | 90 | — | — | 4 | 0 | 0.0535 | 925 | 923.5001 | 0 | −0.0883 | −90 | −90 | — | — | 5 | 0 | 0.1623 | 0 | 0.0813 | 0 | 0 | 90 | 90 | — | — | 6 | 0 | 0 | 110 | 109.9630 | 0 | −0.0317 | 0 | 0 | — | — |
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“Nom.”: nominal value; “Iden.”: identified value; “—”: does not exist.
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