Kinematic Calibration Based on the Multicollinearity Diagnosis of a 6-DOF Polishing Hybrid Robot Using a Laser Tracker

Figure 6

Error distributions before calibration of the workspace: position error: (a) in the upper layer, (b) in the middle layer, and (c) in the lower layer; orientation error: (d) in the upper layer, (e) in the middle layer, and (f) in the lower layer.

(a)

(b)

(c)

(d)

(e)

(f)