Geometric Parameter Identification of a 6-DOF Space Robot Using a Laser-Ranger

Table 4

Identified geometrical parameter errors for the second case.

Link Number	Δ𝜃𝑛/mrad	Δ𝛼𝑛/mrad	Δ𝑎𝑛/mm	Δ𝑑𝑛/mm	Δ𝛽𝑛/mrad
1	−7.0607	−2.8193	−0.1191	0.1555	—
2	0.8234	0.2574	1.6439	—	1.4527
3	0.3428	−2.0967	1.0172	−0.5597	—
4	0.5364	2.2958	0.0014	1.4096	—
5	−5.6786	−4.2081	0.3607	0.6214	—
6	1.4004	0.4974	0.4545	0.4274	−3.3556