ASMR

Online translations + offline re- plan! • Online – σ translations = 0.1 cm (residual errors) – Σ translations = 0.1 cm (residual errors) – σ rotations+shape = 0.3 cm – Σ rotations+shape = 0.15 cm – σ total = √ σ translations + σ rotations+shape = 0.32 cm – Σ total = √ Σ translations + Σ rotations+shape = 0.20 cm • Margin: 0.7 cm