Raw data of positioning experiment and tracking experiment

Raw data of the positioning experiment:

The first pdf file is the measurement values of the 35 target positions of the terminal of the robot arm (with zero orientations) before compensation, which were directly exported from the laser tracker (using polyworks 2016).

The second pdf file is the measurement values of the 35 target positions of the terminal of the robot (with different orientations) arm after compensation, which were directly exported from the laser tracker (using polyworks 2016).

The third pdf file is the measurement values of the 4 target positions of the terminal of the robot guided by a vision-based method using Intel RealSense d455 depth camera. The data were directly exported from the laser tracker (using polyworks 2016).

Raw data of the tracking experiment:

These 6 txt files were output from the master controller of the system.

In each line, the first data (time, unit:ms) represents the current time. The rest data represent the pose deviations between the terminal and the target at this time stamp.

To calculate the mean tracking error, lines in the middle part of the txt file, which represent the dynamic errors during one or two complete ellipses were used (these data were in the stable tracking phase).