Articulated Arm Coordinate Measuring Machine Calibration by Laser Tracker Multilateration

Table 4

Identified values for the AACMM model parameters by L-M algorithm.

Joint	𝜃𝑖 (°)	𝛼𝑖 (°)	𝑎𝑖 (mm)	𝑑𝑖 (mm)
1	−89.1269	−89.9216	−42.4313	300
2	134.7734	−89.7178	−41.7885	1.2337
3	184.2704	−90.1202	−28.9084	591.2423
4	−95.4182	89.5364	29.4449	0.6300
5	−88.0773	−89.9482	−28.5745	591.5284
6	181.0832	92.5750	27.5479	12.2143
7	0.2117	0	0.4124	254.0575