A Robot Calibration Method Based on Joint Angle Division and an Artificial Neural Network

Table 1

The nominal DH parameters of the 8-DOF robot.

No.	Joint type
1	R		300	0	-90
2	R	-90+	20	0	-90
3	P	180	80	5625+	-90
4	R	-90+	340	0	90
5	R	-90+	0	0	-90
6	R	-90+	191	411	90
7	R		585	-604	-90
8	P	0	0	3850+	0