Articulated Arm Coordinate Measuring Machine Calibration by Laser Tracker Multilateration

Table 1

Initial values for the AACMM D-H parameters.

Joint	𝜃𝑖 (°)	𝛼𝑖 (°)	𝑎𝑖 (mm)	𝑑𝑖 (mm)
1	−90	−90	−40	300
2	135	−90	−40	0
3	180	−90	−34	590
4	−90	90	34	0
5	−90	−90	−34	588
6	180	−90	−34	0
7	0	0	0	318.2