该数据集主要用于工业机器人末端定位精度标定的方法验证，为工业机器人模型参数误差辨识方法提供数据基础。该数据集源于钱江机器人RH4-1A，包含机器人在不同位姿下的名义关节位置（从控制器读取）和实际末端位姿（由Leica激光跟踪仪测量）数据，测量靶标使用Leica T-MAC激光跟踪传感器。空间位置测量精度为+/-15 µm + 6 µm/m，空间转角测量精度为+/-0.01°。

This data set is used for the methodological verification of the calibration of the end position accuracy of industrial robots and provides a data base for the error identification method of the industrial robot model parameters. The data set is derived from the (QJRH4-1A manufactured by ZHEJIANG QIANJIANG ROBOT CO., LTD. It contains data on the nominal joint position (read from the controller) and the actual end position (measured by a Leica laser tracker) of the robot in different positions, using a Leica T-MAC laser tracking sensor as the measurement target. The spatial position is measured with an accuracy of +/-15 µm + 6 µm/m, and the spatial angular is measured with an accuracy of +/-0.01°.