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Table 1 Kinematic parameters of Leg 1 (mm)

From: Kinematic Calibration of a Six-Legged Walking Machine Tool

  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)