Table 3. Software simulation vs hardware test

	Software simulation	Hardware test
Number of images	51	51
XYZ-axis position error	[13.35 3.21 8.83] mm	[16.85 7.17 9.75] mm
Distance error	17.61 mm	23.84 mm
XYZ-axis rotation error	[0.5513 3.4875 5.4101]°	[0.6526 2.9342 6.3758]°
Angular error	6.89°	7.47°