Vision-Based Intelligent Perceiving and Planning System of a 7-DoF Collaborative Robot

Table 5

Accuracy of trajectory planning with improved RRT.

Error	x (mm)	y (mm)	z (mm)	α (°)	β (°)	γ (°)
Object 1	3.3	9.5	18.8	0.75	0.21	0.33
Object 2	31.1	40.5	3.4	1.84	0.57	1.88
Object 3	1.2	2.3	3.9	0.20	0.45	0.27
Object 4	8.4	5.0	17.3	0.81	0.19	1.11
Object 5	1.7	3.0	2.5	0.35	0.24	0.71