Non converging pixel error

[BinodKhatri-design]

Hello,
I used this algorithm to perform hand eye calibration with UR 16e robot and ZED usb camera. I collected over 100 images and recorded transformation matrix of robot base ot end effector using following function.
function t_matrix =TransformationMatrix(pose)
x = pose(1);y = pose(2);z = pose(3);roll = pose(4);pitch = pose(5);yaw = pose(6);
t_matrix = eye(4);
R_x = [1, 0,0; 0, cos(roll), -sin(roll);0 sin(roll), cos(roll)]
R_y = [cos(pitch), 0, sin(pitch);0,1,0; -sin(pitch),0,cos(pitch)]
R_z = [cos(yaw), -sin(yaw), 0; sin(yaw), cos(yaw), 0; 0 ,0, 1]
R_orientation = R_zR_y
R_orientation = R_orientationR_x
t_matrix(1:3,1:3) = R_orientation;
t_matrix(1:3, 4) =[x, y, z]
end
However, I error could not converge to less than 50 pixels which is much for my application. Is anyone also in similar situation?
or has anyone successfully got nice result using different transformation matrix or so?

Best Regards