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.

iθi (°)di mmai mmαi (°)βi (°)
Nom.Iden.Nom.Iden.Nom.Iden.Nom.Iden.Nom.Iden.

100.02720−1.0050150150.7542−90−90
2−90−89.9518825825.495100.01350−0.0484
39090.594000.565000.11249090
400.0535925923.50010−0.0883−90−90
500.162300.0813009090
600110109.96300−0.031700

“Nom.”: nominal value; “Iden.”: identified value; “—”: does not exist.