Index

i

Moving distance along x-axis a_i/mm

Rotation angle around x-axis α_i/(˚)

Moving distance along z-axis s_i/mm

Rotation angle around z-axis θ_i/(˚)

1

100

90

900

80

2

400

−90

100

−16

3

800

45

200

110

4

125

90

300

70

5

200

30

700

−30

6

300

50

300

20