Table 1.

Origin position errors between frames {E} and {E'} for 30 robot configurations.

Position Error	Δx [mm]	Δy [mm]	Δz [mm]
Average value	Δx̄ = 0.0024074	Δȳ = 0.0012843	Δz̄ = 0.0036070
Standard deviation	σx = 0.0088443	σy = 0.0117850	σz = 0.0086101