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

Table 2

Redundancy analysis of the robot pose error model based on QR decomposition.

Joint	M-DH parameters
1	θ1	2412.93	d1	−7.07	a1	−7.07	α1	1159.53	—	—
2	θ2	−874.08	d2	—	a2	1.72	α2	−290.31	β2	175.48
3	θ3	382.78	d3	0.991	a3	−0.22	α3	105.24	—	—
4	θ4	−264.45	d4	1.94	a4	5.51	α4	213.83	—	—
5	θ5	142.16	d5	−0.53	a5	0.14	α5	9.61	—	—
6	θ6	−9.91	d6	−2.01	a6	1.10	α6	−9.56	—	—