Table 2 Calibrated robot parameter
Joint | a(mm) | α(rad) | d(mm) | θ(rad) |
|---|---|---|---|---|
1 | 0.00 | 0.00 | 0.00 | 0.0059 |
2 | 99.23 | −1.57 | 0.00 | −0.0179 |
3 | 291.77 | 0.00 | 0.00 | 0.0119 |
4 | 119.62 | −1.57 | 310.00 | 0.0024 |
5 | 0.00 | 1.57 | 0.00 | −0.0138 |
6 | 0.00 | −1.57 | −0.00 | 0.00 |
Position of maker (mm): (40.32, 0.71, 158.02) | ||||