Table 1 Reach target with random initial joint values
From: A Robotic System with Robust Remote Center of Motion Constraint for Endometrial Regeneration Surgery
Method | Success rate | Mean number of iterations | Mean \({\varvec{e}}_{RCM}\) |
|---|---|---|---|
Extended task | 52/200 | 87 | 3.86 |
Task decoupled | 141/200 | 153 | 0.68 |