Table 4.
The actual angle experiment data from the Joint (J1) and Joint (J2).
| Joint (J1) Input Angle (degree) |
|||||||||
|---|---|---|---|---|---|---|---|---|---|
| 40° CCW |
30° CCW |
20° CCW |
10° CCW |
40° CW |
30° CW |
20° CW |
10° CW |
||
| -40 | -30 | -20 | -10 | 40 | 30 | 20 | 10 | ||
| Actual Angle | n = 1 | -41.9999 | -31.4469 | -20.8212 | -10.2582 | 41.99987 | 31.44686 | 20.82119 | 10.25822 |
| n = 2 | -41.8665 | -31.4329 | -20.7801 | -10.2888 | 41.86653 | 31.43286 | 20.78011 | 10.28883 | |
| n = 3 | -41.904 | -31.4278 | -20.8122 | -10.3018 | 41.90399 | 31.42784 | 20.81218 | 10.30183 | |
| n = 4 | -41.9411 | -31.417 | -20.7461 | -10.2515 | 41.94111 | 31.41702 | 20.74613 | 10.25153 | |
| n = 5 | -41.9149 | -31.3828 | -20.7711 | -10.3141 | 41.91491 | 31.38282 | 20.77114 | 10.31414 | |
|
Joint (J2) Input Angle (degree) | |||||||||
| 40° CCW | 30° CCW | 20° CCW | 10° CCW | 40° CW | 30° CW | 20° CW | 10° CW | ||
| -40 | -30 | -20 | -10 | 40 | 30 | 20 | 10 | ||
| n = 1 | -40.1139 | -29.8947 | -19.8549 | -9.8152 | 40.50454 | 30.25476 | 20.15378 | 10.25168 | |
| n = 2 | -40.1138 | -29.8967 | -19.8605 | -10.0271 | 40.50981 | 30.24063 | 20.14188 | 10.28623 | |
| n = 3 | -40.1121 | -29.8918 | -19.8727 | -10.0245 | 40.51798 | 30.25274 | 20.14768 | 10.29344 | |
| n = 4 | -40.1249 | -29.8827 | -19.8679 | -10.0182 | 40.51187 | 30.26154 | 20.14103 | 10.29668 | |
| n = 5 | -40.1151 | -29.8985 | -19.8682 | -10.015 | 40.50454 | 30.24565 | 20.14174 | 10.30457 | |