Design and Workspace Analysis of a Differential Motion Rotary Style Breast Interventional Robot

Table 8

Precision and accuracy at different speeds.

	3 mm/s	5 mm/s	8 mm/s	Average value
Average error	0.552	0.564	0.559	0.558
Standard deviation	0.630	0.664	0.600	0.639
RMSE	0.634	0.743	0.617	0.660