Vibration Suppression for Improving the Estimation of Kinematic Parameters on Industrial Robots

Table 5

Analysis of the vibration parameters on each robot link.

Robot link	Sensor axis	Vibration level (g) 1 g = 9.81 m/s^2
		Before KF			After KF
		Peak	Mean	RMS	Peak	Mean	RMS
1
				0.5902
	2
				0.0178
3
	4
					0.0096
5			0.2733
	6				0.0150