IMU-Based Online Kinematic Calibration of Robot Manipulator

Table 3

The 3D errors with 15 pose measurements.

Hole number	Method [16] (mm)	Our method (mm)
1	0.45	0.40
2	0.33	0.30
3	0.51	0.29
4	0.52	0.21
5	0.38	0.32
6	0.61	0.16
7	0.61	0.37
8	0.49	0.46
9	0.53	0.23
10	0.51	0.38
11	0.48	0.42
12	0.57	0.14
13	0.44	0.15
14	0.71	0.35
15	0.48	0.26
16	0.51	0.36