Skip to main content

Table 3 Combined disturbance levels in robot parameters

From: An optical tracker based robot registration and servoing method for ultrasound guided percutaneous renal access

Set name Link length error (mm) Joint angle error (rad) Marker position (mm) Robot-tracker orientation (rad) Robot-tracker displacement (mm)
No. 1 1.00 0.05 1.00 0.05 1.00
No. 2 3.00 0.10 3.00 0.10 3.00
No. 3 5.00 0.15 5.00 0.15 5.00
No. 4 10.00 0.20 10.00 0.20 10.00
No. 5 20.00 0.25 20.00 0.25 20.00
No. 6 30.00 0.30 30.00 0.30 30.00
No. 7 40.00 0.35 40.00 0.35 40.00
No. 8 50.00 0.40 50.00 0.40 50.00
No. 9 60.00 0.45 60.00 0.45 60.00