Table 2.

Values for the experiments to characterize the joints (Ji) and their sensors (Si).

Dig. Ref.	J1 (degrees)	S1 (degrees)	J2 (degrees)	S2 (degrees)	J3 (degrees)	S3 (degrees)	J4 (degrees)	S4 (degrees)
−500	−88.93	−108.63	−86.1	−83.87	−106.52	42.02	−122.12	−43.98
−400	−71.38	−116.21	−76.3	−83.52	−85.38	40.3	−104.18	−44.58
−300	−56.37	−86.80	−57.9	−63.53	−60.18	31.15	−78.45	−33.23
−200	−29.21	−58.46	−39.1	−41.9	−35.63	21.52	−50.93	−21.89
−100	−18.95	−29.75	−19.9	−22.75	−17.08	11.44	−20	−10.92
0	0	0	−1	0	1.69	0	0	0
100	18.82	28.21	15.2	20.11	20.91	−11.37	14.38	10.86
200	34.46	56.73	34	42.02	36.56	160.37	33.27	21.96
300	52.8	85.04	53.2	63.73	55.82	151.06	63.29	34.24
400	70.31	114.74	71.8	82.91	77.38	141.63	86.46	45.41
500	91.06	137.90	88.6	102.58	96.64	130.41	109.64	−124.72

The results of the movements are shown in Figure 5. The values of both the joints and the sensors are expressed in degrees(°). The values of the angles are measured using video tools. All the sensors values are referenced to the home position (0°). The differences between the angles measured with the joint sensor and the video tool can be understood due to the inertia of the iterative test performed.