Table 3.
Tip Position Error for Multi-tube (m) and Single-tube (s) Models. Gravity load direction with respect to robot curvature is specified using the coordinate directions of Fig. 5.
| Load direction, mass (grams) |
Mean (mm) |
Std Dev (mm) |
Max (mm) |
|||
|---|---|---|---|---|---|---|
| m | s | m | s | m | s | |
| {x,y,z}, 0 | 1.91 | 1.91 | 0.29 | 0.29 | 2.60 | 2.60 |
| −y, 100 | 1.95 | 2.19 | 0.42 | 0.54 | 3.26 | 3.26 |
| −y, 200 | 2.01 | 3.13 | 0.93 | 1.72 | 3.98 | 6.54 |
| −x, 100 | 4.26 | 4.44 | 2.29 | 2.23 | 6.55 | 6.59 |
| −x, 200 | 5.73 | 6.26 | 2.72 | 2.46 | 8.54 | 8.79 |
| z, 100 | 2.53 | 2.54 | 0.71 | 0.75 | 3.86 | 4.05 |
| z, 200 | 2.50 | 2.51 | 0.64 | 0.69 | 3.53 | 3.73 |
| {x,y,z}, {100,200} |
2.98 | 3.28 | 1.97 | 2.05 | 8.54 | 8.79 |