Table 2 Reach random targets with same 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 \({{e}}_{RCM}\) | |
|---|---|---|---|---|
Extended task | Case 1 | 103/200 | 112 | 2.04 |
Case 2 | 64/200 | 189 | 4.16 | |
Case 3 | 0/200 | – | – | |
Case 4 | 0/200 | – | – | |
Task decoupled | Case 1 | 122/200 | 290 | 0.56 |
Case 2 | 182/200 | 216 | 0.30 | |
Case 3 | 154/200 | 265 | 0.34 | |
Case 4 | 135/200 | 173 | 0.42 | |