Dynamics Parametrization and Calibration of Flexible-Joint Collaborative Industrial Robot Manipulators

Table 4

Estimated values and relative standard deviation of the 36 base parameters obtained by solving the WLS problem with rotor dynamics compensation.

Base param.	Value
	2.1981	0.099
	−1.6552	0.130
	−0.0405	1.975
	0.3734	0.210
	0.1278	1.367
	−4.1774	0.198
	−0.0132	0.001
	−0.7336	0.141
	−0.1563	0.166
	0.1302	0.225
	−0.1714	0.249
	0.0212	0.433
	−1.8774	2.908
	0.0428	0.001
	−0.0428	0.030
	−0.0454	0.609
	0.0144	0.422
	0.0166	0.767
	0.0005	18.894
	−0.0005	20.082
	−0.0112	0.043
	−0.1866	0.001
	0.0239	0.450
	−0.0391	0.055
	0.0194	0.080
	0.0065	0.286
	0.0315	0.076
	−0.0013	0.137
	0.0442	0.005
	0.0187	0.132
	0.0059	0.107
	0.0187	0.054
	−0.0002	3.825
	0.0209	0.157
	0.0036	0.040
	−0.0043	0.041