Evolutionary Robot Calibration and Nonlinear Compensation Methodology Based on GA-DNN and an Extra Compliance Error Model

Table 2

The identified MDH parameters by the conventional kinematic calibration method.

i	θi (°)	di (mm)	ai (mm)	αi (°)	βi (°)
1	−0.0289	−0.9085	150.7783	−89.9964	0
2	−89.9514	0	825.4384	0.0148	−0.0828
3	90.5969	1.2935	0.0886	89.9786	0
4	0.0886	923.5273	−0.1002	−89.9877	0
5	0.1653	0.0688	−0.0155	89.9507	0
6	−0.0084	109.9556	−0.0304	0	0