Table 1. Hardware test results: position and orientation error

	X-axis	Y-axis	Z-axis
Position error by axis	–11.92 mm	1.94 mm	1.22 mm
Position error variance by axis	16.85 mm	7.17 mm	9.75 mm
Position error average		23.84 mm
Orientation error by axis	0.6526°	2.9342°	6.3758°
Orientation error average		7.47°