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

Table 6

Pose errors of the verification layers after fine calibration.

Pose error	Maximum value		Mean value
	z = 30 mm	z = -30 mm	z = 30 mm	z = -30 mm
Position error (mm)	0.062	0.066	0.041	0.042
Orientation error (deg)	0.057	0.064	0.051	0.050