Figure 4From: A computational method for key-performance-indicator-based parameter identification of industrial manipulators Visualization of the capsule approximation. Each joint \(c_{i}\), \(i \in\{0,\ldots,4\}\) in column (a) is described by an appropriate capsule \(b_{i}\), \(i \in\{0,\ldots,4\}\) illustrated in column (b). In column (c) the distance \(d_{P}\) between the two line segments \(b_{1}\) and \(b_{3}\) is shown.Back to article page