Research Article
Experimental Analysis on the Effectiveness of Kinematic Error Compensation Methods for Serial Industrial Robots
Table 3
The robot kinematic parameter errors identified.
| | i | θi (rad) | di (mm) | ai (mm) | αi (rad) | βi (rad) |
| | 1 | 0.00031 | 0.01024 | 0.21190 | −0.00018 | — | | 2 | 0.00087 | — | 0.22115 | 0.00000 | 0.00004 | | 3 | 0.00034 | 0.37978 | −0.02233 | 0.00134 | — | | 4 | 0.00181 | 0.13133 | 0.07552 | 0.00007 | — | | 5 | 0.00036 | 0.00720 | 0.00580 | 0.00023 | — | | 6 | 0.00092 | −0.10069 | −0.17883 | 0.00130 | — |
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