Table 2.

Robot accuracy assessment results for benchtop experiments: $X$, $Y$, and $Z$ are in millimeters, whereas $R_x$, $R_y$, and $R_z$ are in degrees.

Target no.	Planned tip trajectory						$\Vert \text{Error}\Vert$
	$X$	$Y$	$Z$	$R_x$	$R_y$	$R_z$	$X$	$Y$	$Z$	$R_x$	$R_y$	$R_z$
H	0.00	50.00	0.00	0.00	0.00	0.00	0.05	0.02	0.47	0.49	0.06	0.06
T1	16.12	47.32	−10.95	−1.09	6.56	−18.94	0.14	0.33	1.23	0.19	0.05	0.08
T2	3.41	47.32	−26.21	−21.22	−48.18	28.91	0.47	0.42	0.17	1.30	0.42	1.25
T3	−26.23	46.98	26.23	20.00	−45.00	0.00	0.76	0.48	0.51	0.34	1.03	0.27
T4	8.56	48.53	18.43	9.73	3.32	−9.44	0.64	0.46	1.72	1.01	1.03	0.19
T5	−14.23	48.53	−2.12	18.56	40.95	12.52	0.36	0.24	0.29	0.24	1.25	0.21
T6	2.50	48.62	13.19	−1.44	40.95	12.52	1.15	0.13	0.39	0.36	1.89	0.30
Average							0.51	0.30	0.68	0.56	0.82	0.34
STD							0.45	0.18	0.57	0.46	0.86	0.40