Experimental Analysis on the Effectiveness of Kinematic Error Compensation Methods for Serial Industrial Robots

Table 1

The nominal M-DH parameters of the Staubli TX60 robot.

i	θi (rad)	d (mm)	ai (mm)	αi (rad)	ßi (rad)
1	π	0	0	π/2	—
2	π/2	—	290	0	0
3	π/2	20	0	π/2	—
4	π	310	0	π/2	—
5	π	0	0	π/2	—
6	0	70	0	0	—