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Table 4 Range of motion of joints and admitted incident angle between sensor surface and laser beam

From: A computational method for key-performance-indicator-based parameter identification of industrial manipulators

Joint i

Range of motion

Incident angle

\(\boldsymbol{q^{\mathrm{lo}}}\) ( \(\boldsymbol{{}^{\circ}}\) )

\(\boldsymbol{q^{\mathrm{up}}}\) ( \(\boldsymbol{{}^{\circ}}\) )

1

−82

82

β ≥ 30

2

−77

31

3

−13

154

4

−347

347

5

−87

87

6

−347

347