Skip to main content
. Author manuscript; available in PMC: 2011 May 10.
Published in final edited form as: IEEE Trans Robot. 2010;26(5):769–780. doi: 10.1109/TRO.2010.2062570

TABLE IV.

Nominal and Calibrated Parameters

Nominal Value Calibrated Value
E1I1 (Nm2) 0.0204 0.0197
J1G1 (Nm2) 0.0157 0.0123
E2I2 (Nm2) 0.0458 0.0368
J2G2 (Nm2) 0.0352 0.0331
δx (mm) 0 −1.7
δy (mm) 0 −1.0
δz (mm) 0 0.3
δα (deg) 0 −0.06
δβ (deg) 0 0.67
δγ (deg) 0 −058