Estimation of Kinematic Parameter Errors of 6-axis Serial Robot through Circular Test

Abstract

= Angle between {i} th and {i+1} th X-axis along {i} th Z-axis (i =1 ~ 6), rad = Link offset between {i} th and {i+1} th X-axis along {i} th Z-axis (i =1 ~ 6), mm = Angle between {i} th and {i+1} th Z-axis along {i} th X-axis (i =1 ~ 6), rad = Link offset between {i} th and {i+1} th Z-axis along {i} th X-axis (i =1 ~ 6), mm = Coordinate system with respect to {i} th joint (i = 0 ~ 6, t), t stands for a tool's coordinate system = radial distance between circular path's center and a measured point.