Table 1.

Identified values for the model parameters by L-M algorithm [14].

Joint	ai(mm)	αi(o)	di(mm)	θ0i(o)
1	0.036962	−90.052249	−0.000002	−0.126434
2	0.102485	90.044751	47.891183	14.942165
3	0.097868	−90.020699	645.780523	−88.99688
4	−0.133079	90.068899	54.240741	−3.636896
5	0.057606	90.011014	615.242600	89.770488
6	0.367275	−0.522698	0.150712	−0.878373
	Xprobe (mm)	Yprobe (mm)	Zprobe (mm)
	0.367276	139.450887	54.657060