Table 1 Kinematic parameters of Leg 1 (mm)
From: Kinematic Calibration of a Six-Legged Walking Machine Tool
| Â | Nominal value | Identified value |
|---|---|---|
u11 | (−433.22, 0, −199.07) | (−431.96, 1.39, −198.53) |
u21 | (0, 232, 134) | (0.85, 233.58, 133.60) |
u31 | (0, 232, −134) | (−2.07, 233.37, −134.95) |
sf1 | (142, −34, 0) | (138.42, −34, 0) |
s21 | (0, 59, 34) | (−0.73, 59, 34) |
s31 | (0, 59, −34) | (−2.88, 59, −34) |