TABLE 4.

Positioning and orientation accuracies (respectively $A{P}_P$ and $A{P}_{\theta }$) of the robot for two different trajectories.

	$A{P}_P$ (µm)			$\left|A{P}_{\theta }\right|$ (mrad)
	Max	Mean	min	Max	Mean	Min
Square	2.60	1.27	0.47	0.437	0.20	0.032
Circle	3.28	1.95	0.28	0.532	0.24	0.046