Measurement data to reproduce the absolute and repeatability precision before and after the reconfiguration process.

The dataset contains the folder with the data in reference configuration ( /predictor_corrector_scheme_data/reference_config/) and the data in the reconfigured configuration (/predictor_corrector_scheme_data/referencer_config/). For all measurements, the absolute position of the platform was measured by a Faro Vantage E6 laser tracker. The txt-files contain seven columns, whereas the first three columns contain the absolute coordinates, measured in the laser tracker's coordinate system. The first column contains the x-coordinate, second column the y-coordinate and third column the z-coordinate, respectively. The other four columns are not of interest.

Additionally, before the precision can be assessed, the coordinates have to be transformed to the robot's coordinate system and the offset between the laser tracker target and the center of the platform's coordinate system has to be compensated. For this purpose, the difference between the laser tracker and the robot's coordinate system is given in "coordinate_origin.txt" and the orientation difference in terms of the rotation matrix in "rotation_matrix.txt" as well as the laser tracker target offset, which has to be added to the measured values, in "target_offset.txt".

The calculation of the precision was performed according to ISO 9283, which is also mentioned in the corresponding paper.