Table 4.

Absolute position and orientation accuracy of the robot over the set of 56 robot poses Q₁.

		Mean Value	Std.	Max. Value
Absolute position accuracy [mm]	Before cal.	3.6573	1.55090	7.0433
	After cal.	0.12933	0.06618	0.32229
Absolute orientation accuracy about x axis: α Euler angle [deg]	Before cal.	0.33022	0.18441	0.86927
	After cal.	0.00864	0.00593	0.02649
Absolute orientation accuracy about y axis: β Euler angle [deg]	Before cal.	0.67187	0.36829	1.4892
	After cal.	0.01658	0.01164	0.0470
Absolute orientation accuracy about z axis: γ Euler angle [deg]	Before cal.	1.4004	0.22133	1.7003
	After cal.	0.01286	0.00962	0.0452