Figure 10.

The end-point error surface for the original, naïve model (TModel3). (A) The ratio of the magnitudes of the total error vector and the target vector, expressed as a percentage. (B) The ratio of the magnitude of the x component of the error vector to the magnitude of the target vector, expressed as a percentage. (C) As (B) but for the y component. (D) As (B), for z component. All color maps are shown with the same scale. The target rotations, ${\theta }_x^t$ and ${\theta }_y^t$ are denoted “Target X” and “Target Y” in the figure.