Introduction - If you have any usage issues, please Google them yourself
From the above data we can see that the results obtained when the simulation has a small deviation the measured coordinates. The reason may be that the accuracy of the calculation is lost, and the initial value of the manipulator is related to the calibration.
In reverse motion data is not exactly the same, the main reason may be the mechanical arm of the multiple solutions.
Effective solution is according to the Motoman sensor data are calculated to obtain a degree of angle, then the angle input mechanical arm of each key to observe the deviation of the actual position and the ideal position. Finally, the deviation of the input program for calibration.