Id | Target position (mm) | Actual tip point (mm) | Joint angles (rad) | Error values (mm) | e (mm) | |||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
X | Y | Z | X | Y | Z | θ 1 | θ 2 | θ 3 | θ 4 | X | Y | Z | ||
1a | 35.895 | 47.082 | 22.319 | 35.894 | 47.082 | 22.319 | 0.919 | −0.434 |  |  | −3.69−4 | −4.85−4 | −2.82−4 | 6.71−4 |
2a | 11.162 | 32.623 | −47.650 | 11.162 | 32.623 | −47.649 | 1.241 | 1.113 |  |  | −1.14−4 | −3.34−4 | 7.16−4 | 7.98−4 |
3a | −20.562 | −35.615 | 10.237 | −20.562 | −35.615 | 10.237 | 1.047 | −2.948 |  |  | 1.14−4 | 1.98−4 | −4.48−5 | 2.33−4 |
4a | −46.787 | −33.441 | −25.663 | −46.787 | −33.441 | −25.663 | −2.521 | 0.504 |  |  | −1.77−4 | −1.27−4 | −1.20−4 | 2.49−4 |
5a | −17.643 | 34.559 | 45.263 | −17.643 | 34.559 | 45.263 | 2.043 | −1.020 |  |  | −9.10−5 | 1.78−4 | 3.26−4 | 3.82−4 |
6 | −23.033 | 44.716 | 16.960 | −22.893 | 44.443 | 17.027 | −3.075 | −0.169 | −2.306 | −0.292 | 0.141 | −0.274 | 0.067 | 0.315 |
7 | 95.978 | 20.201 | −7.583 | 95.860 | 20.201 | −7.581 | 0.907 | 0.072 | −1.394 | 0.056 | −0.118 | 0.000 | 0.002 | 0.118 |
8 | −70.092 | 96.494 | −13.310 | −69.766 | 96.251 | −13.143 | 2.518 | −0.055 | −0.663 | 0.361 | 0.327 | −0.243 | 0.167 | 0.440 |
9 | −40.512 | 21.263 | −13.329 | −40.436 | 21.237 | −13.375 | −2.424 | 0.131 | −2.394 | 0.238 | 0.076 | −0.026 | −0.463 | 0.093 |
10 | −102.447 | −12.848 | −7.496 | −102.421 | −12.852 | −7.499 | 2.634 | 0.147 | 1.262 | −0.060 | 0.026 | −0.004 | −0.003 | 0.027 |
11 | 4.644 | 28.145 | 10.142 | 4.502 | 28.553 | 10.194 | 2.7539 | −0.102 | −2.679 | −0.201 | −0.142 | 0.408 | 0.052 | 0.435 |
12 | −42.313 | −35.407 | 21.584 | −41.716 | −34.948 | 21.660 | −1.324 | −0.218 | −2.205 | −0.354 | 0.595 | 0.459 | 0.076 | 0.755 |
13 | 124.266 | −26.778 | −10.907 | 123.671 | −26.808 | −9.911 | −0.333 | 0.159 | 0.239 | −0.158 | −0.596 | −0.030 | 0.997 | 1.162 |
14 | 52.552 | −106.386 | 11.648 | 52.513 | −106.138 | 11.561 | −0.735 | −0.110 | −0.760 | −0.018 | 0.039 | −0.248 | 0.087 | 0.266 |
15 | 29.670 | 104.466 | 19.317 | 29.723 | 103.418 | 20.022 | 1.765 | −0.529 | −1.020 | 0.500 | 0.054 | −1.048 | 0.705 | 1.264 |