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ROBOMECH Journal

Table 7 Maximum absolute errors of positions between virtual model and drive system

From: Force display control system for simultaneous 3-axis translational motion in surgical training simulator for chiseling operation

 

Admittance control

2DOF Admittance control

Direction

 

Conv. PD [27]

Proposed PD

x-axis

4.11 mm

–

1.70 mm

y-axis

21.4 mm

17.7 mm

12.1 mm

z-axis

34.0 mm

–

16.7 mm

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