Table 5 Comparison of DH parameters
From: An optimization technique for identifying robot manipulator parameters under uncertainty
i | Model | \(d_i\) (m) | \(\theta _i\) | \(L_i\) (m) | \(\alpha _i\) |
|---|---|---|---|---|---|
1 | Original | 0.076 | \(\theta _1\) | 0 | 90° |
|  | Normal | 0.0755 | −0.6036° + \(\theta _1\) | 0.0003 | 90.0783° |
|  | Roll | 0.0740 | −0.6093° + \(\theta _1\) | 0.0020 | 90.0783° |
|  | Pitch | 0.0780 | −0.7509° + \(\theta _1\) | 0.0020 | 88.0000° |
2 | Original | 0 | 90° + \(\theta _2\) | 0.4 | 0° |
|  | Normal | −0.0004 | 90.0704° + \(\theta _2\) | 0.4002 | −1.0250° |
|  | Roll | 0.0003 | 91.4311° + \(\theta _2\) | 0.4020 | −1.0250° |
|  | Pitch | −0.0009 | 90.5759° + \(\theta _2\) | 0.4020 | 1.8774° |
3 | Original | −0.012 | \(\theta _3\) | 0 | 90° |
|  | Normal | −0.0124 | −0.1320° + \(\theta _3\) | −0.0001 | 89.4740° |
|  | Roll | −0.0117 | −0.3118° + \(\theta _3\) | 0.0004 | 89.4740° |
|  | Pitch | −0.0127 | 0.4572° + \(\theta _3\) | −0.0002 | 88.0000° |
4 | Original | 0.3543 | 0° | 0 | 90° |
|  | Normal | 0.3545 | 0° | −0.0001 | 90° |
|  | Roll | 0.3563 | 0° | 0.0004 | 90° |
|  | Pitch | 0.3523 | 0° | −0.0002 | 90° |