Figure 7

Error ellipsoid defining the linearized 95% confidence region of the tool center point (TCP) of the working configuration. Error ellipsoid defining the linearized 95% confidence region (with \(\chi_{3}^{2} (0.95) = 7.815\)) of the TCP of the working configuration of a KUKA KR15 with its two dimensional projections resulting from heuristic \(q_{h}\) and optimized \(q_{s}\) measurement configurations used in parameter identification. The center of the ellipsoid is the TCP position with its parameter values presented in Table 3. The half-axes \(v_{x}\), \(v_{y}\), \(v_{z}\) of the confidence ellipsoids are the eigenvalues of the covariance matrices \({C}_{s}( \boldsymbol {q}_{h})\) (blue) and \({C}_{s}( \boldsymbol {q}_{s})\) (red) with \(\boldsymbol {q}_{s} :=\min_{ \boldsymbol {q}} \operatorname {tr}( {C}_{s}( \boldsymbol {q}))\).