Table 4.

Average values given to the joints in the experiment shown in Figure 8.

Ref. J2	J2	S2	Ref. J3	J3	S3	Ref. J4	J4	S4	(x, y, z)
0	−1	5667.69	−150	−36.25	1363.82	−100	−20	3470.47	(−12.01, 13.42, 49.65)
−150	−31.12	10154.28	0	1.69	558.34	0	−6.73	3129.42	(−11.26, −1.19, 46.55)
−250	−48.5	12023.23	150	32.4	39.12	150	46.23	5320.04	(−13.38, −4.37, 55.33)
−500	−86.1	14502.67	500	96.64	7808.23	300	63.29	631.61	(−4.55, −20.30, 18.84)

References are the digital ones, the values of the sensors are shown as they are read, the angles of each joint (J_i) in degrees(°) and the cartesian coordinates in cm.