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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