Vision-Based Intelligent Perceiving and Planning System of a 7-DoF Collaborative Robot

Table 1

Repeated reverse kinematics accuracy tests on large wrap for index finger (first 4 columns) and thumb (last 3 columns).

Joint	Test 1	Test 2	Test 3	Test 4	Test 5	Standard deviation
J0 (degree)	30.038	30.052	30.009	30.088	30.016	0.028238
MCP (degree)	30.057	30.151	30.098	30.139	30.110	0.033075
PIP (degree)	45.120	45.108	45.085	45.177	45.046	0.043069
DIP (degree)	45.072	45.057	45.004	45.105	45.095	0.035556
J0 (degree)	179.984	180.081	180.014	180.041	179.990	0.035704
MCP (degree)	30.113	30.018	30.101	30.098	30.052	0.035825
IP (degree)	75.037	75.012	75.022	75.079	75.031	0.023007