Evolutionary Robot Calibration and Nonlinear Compensation Methodology Based on GA-DNN and an Extra Compliance Error Model

Table 3

The piecewise critical torque values and the identified joint stiffness.

	(N⋅m)	kl (N⋅m/rad)	kh (N⋅m/rad)
Joint 2	118.236	2.34 × 10^9	2.65 × 10^9
Joint 3	75.625	9.73 × 10^8	1.19 × 10^9
Joint 4	—	8.52 × 10^7	8.52 × 10^7
Joint 5	15.382	8.07 × 10^6	9.73 × 10^6

“—”: does not exist.