Table 3 Combined disturbance levels in robot parameters
Set name | Link length error (mm) | Joint angle error (rad) | Marker position (mm) | Robot-tracker orientation (rad) | Robot-tracker displacement (mm) |
|---|---|---|---|---|---|
No. 1 | 1.00 | 0.05 | 1.00 | 0.05 | 1.00 |
No. 2 | 3.00 | 0.10 | 3.00 | 0.10 | 3.00 |
No. 3 | 5.00 | 0.15 | 5.00 | 0.15 | 5.00 |
No. 4 | 10.00 | 0.20 | 10.00 | 0.20 | 10.00 |
No. 5 | 20.00 | 0.25 | 20.00 | 0.25 | 20.00 |
No. 6 | 30.00 | 0.30 | 30.00 | 0.30 | 30.00 |
No. 7 | 40.00 | 0.35 | 40.00 | 0.35 | 40.00 |
No. 8 | 50.00 | 0.40 | 50.00 | 0.40 | 50.00 |
No. 9 | 60.00 | 0.45 | 60.00 | 0.45 | 60.00 |