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Table 6 Comparison of ideal and real trajectory with a 95 % confidence interval (unit: mm)

From: An optimization technique for identifying robot manipulator parameters under uncertainty

Model

Center position

Offset of center

Errora

Improvementb

Ideal

(300, 0, 200)

   

Original

(330.12, −17.79, 178.36)

40.75 ± 0.045

36.43 ± 0.032

 

Normal

(325.04, −4.28, 179.30)

32.31 ± 0.038

24.72 ± 0.102

(32.1 ± 0.08) %

Roll

(314.35, −10.13, 189.41)

20.13 ± 0.032

17.12 ± 0.027

(53.0 ± 0.11) %

Pitch

(325.18, −13.30, 167.88)

42.37 ± 0.036

35.41 ± 0.031

(2.8 ± 0.03) %

  1. aThe error is measured on the trajectory compared with the ideal trajectory
  2. bThe improvement is compared with the original uncalibrated trajectory