From: An optimization technique for identifying robot manipulator parameters under uncertainty
Model | Center position | Offset of center | Errora | Improvementb |
---|---|---|---|---|
Ideal | (300, 0, 200) | Â | Â | Â |
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) % |