Table 6.
The calculated angle error data from the Joint (J1) and Joint (J2).
| 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 | ||
| Error | n=1 | -1.99987 | -1.44686 | -0.82119 | -0.25822 | 1.999872 | 1.446857 | 0.821192 | 0.258224 |
| n=2 | -1.86653 | -1.43286 | -0.78011 | -0.28883 | 1.866532 | 1.432856 | 0.780114 | 0.288826 | |
| n=3 | -1.90399 | -1.42784 | -0.81218 | -0.30183 | 1.903987 | 1.427838 | 0.812179 | 0.301826 | |
| n=4 | -1.94111 | -1.41702 | -0.74613 | -0.25153 | 1.941113 | 1.417022 | 0.746129 | 0.25153 | |
| n=5 | -1.91491 | -1.38282 | -0.77114 | -0.31414 | 1.914914 | 1.382821 | 0.771144 | 0.314143 | |
|
J2Input 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 | -0.11392 | 0.105275 | 0.145089 | 0.184803 | 0.504538 | 0.25476 | 0.153777 | 0.25168 | |
| n=2 | -0.11377 | 0.103314 | 0.139505 | -0.02708 | 0.509808 | 0.240631 | 0.14188 | 0.286226 | |
| n=3 | -0.11208 | 0.10822 | 0.127301 | -0.02452 | 0.517983 | 0.252744 | 0.147684 | 0.293437 | |
| n=4 | -0.12486 | 0.117329 | 0.132089 | -0.01815 | 0.51187 | 0.261535 | 0.141033 | 0.296676 | |
| n=5 | -0.11514 | 0.101498 | 0.131815 | -0.01503 | 0.504538 | 0.245653 | 0.141735 | 0.304567 | |