| Pose | Desired positions (mm) | Actual positions (mm) | Errors (mm) | (xDi, yDi, zDi, αDi, βDi, γDi) | (xAi, yAi, zAi, αAi, βAi, γAi) | (Exi, Eyi, Ezi, Eαi, Eβi, Eγi) |
| P1 | (4, 4, 404, 2.3, 0.5, 0.9) | (−8, −9, 413, 8, 6, 7) | (12, 13, −9, −5.7, −5.5, −6.1) | P2 | (400, 400, 800, 2.3, 0.5, 0.9) | (348, 390, 812, 7, 7, 9) | (16, 10, 12, −4.7, −6.5, −8.1) | P3 | (−200, −100, 1000, 17.2, 17.2, 22.9) | (−208, −107, −1007, 12, 10, 18) | (8, 7, −7, 5.2, 7.2, 4.9) | P4 | (−1050, −250, 1055, 5.7, 22.9, 34.4) | (−1042, −241, −1059, 9, 17, 30) | (−8, −9, −2, −3.3, 5.9, 4.4) | P5 | (−1155, −1055, 1152, 17.2, 28.7, 45.9) | (−1144, −1065, −1145, 11, 23, 41) | (−11, 10, 7, 6.2, 5.7, 4.9) | P6 | (−555, −355, 1552, 34.4, 40.1, 40.1) | (−552, −360, 1549, 33, 43, 43) | (−3, 5, 3, 1.4, −2.9, −2.9) | P7 | (45, 345, 1587, 40.1, 28.7, 28.7) | (48, 342, 1586, 39, 30, 32) | (−3, 3, 1, 1.1, −1.3, −3.3) | P8 | (268, 866, 1332, 45.9, 17.2, 11.5) | (273, 875, 1335, 48, 22, 14) | (−5, −9, −3, −2.1, −4.8, −2.5) | P9 | (673, 365, 707, 28.7, 11.5, 0) | (662, 374, 719, 33, 16, 3) | (11, −9, −12, −4.3, −4.5, −3.0) | P10 | (895, 36, 872, 11.5, 5.7, 7.2) | (882, 24, 882, 8, 10, 12) | (13, 12, −10, 3.5, −4.3, 5.2) | P11 | (−360, 40, 440, 0, 0, 0) | (−375, 28, 451, 5, 4, 6) | (15, 12, −11, −5.0, −4.0, −6.0) |
|
|