Calibration procedure and biomechanical validation of an universal six degree-of-freedom robotic system for hip joint testing

Table 3 Deviation of the TCP position referred to the settings in robot control program (all values in mm)

Direction	xR	yR	zR
Position 0	− 0.393	− 0.016	− 0.100
Position 1	− 1.618	0.651	0.037
Position 2	0.380	− 0.181	0.486
Position 3	0.159	− 0.497	− 0.465
Position 4	0.360	− 0.951	0.148
Position 5	1.110	0.995	− 0.108
Standard deviation	0.847	0.658	0.288
Max deviation '+'	1.110	0.995	0.486
Min deviation '−'	− 1.618	− 0.951	− 0.465

ISSN: 1749-799X