Resulting angles of both algorithm and robotic wrist for five poses in model based 3D hand tracking.

Table 5: Resulting angles of both algorithm and robotic wrist for five poses in model based 3D hand tracking.

	Yaw			Roll			Pitch
	Actual angles	Algorithm angles	Angle diff.	Actual angles	Algorithm angles	Angle diff.	Actual angles	Algorithm angles	Angle diff.
Pose 1	15.4233	15.3256	-0.0977	30.4029	30.2424	-0.1605	25.5127	25.4761	-0.0366
Pose 2	15.4146	15.5579	0.1433	30.3734	31.7862	1.4128	25.2629	25.1808	-0.0821
Pose 3	15.1841	14.9487	-0.2354	30.3737	30.7022	0.3285	25.2924	25.1687	-0.1237
Pose 4	15.3283	15.3994	0.0711	30.4228	30.2897	-0.1331	25.3311	25.331	-0.0001
Pose 5	15.3293	15.3126	0.0141	30.4515	30.4554	0.0039	25.3463	25.7388	0.3925
Average	15.33592	15.30884	-0.02092	30.40486	30.69518	0.29032	25.34908	25.37908	0.03