Establishing the Improved Dynamic Model for the Extracorporeal Ultrasonic Lithotripsy Medical Cooperative Robot

Table 5

The increase percentage such points of joint model accuracy.

Number	Joint 1	Joint 2	Joint 3	Joint 4	Joint 5	Joint 6
Point 1 (%)	29.84	27.11	28.82	30.33	28.32	30.24
Point 2 (%)	33.62	33.82	30.83	34.19	34.31	34.82
Point 3 (%)	37.89	36.81	36.82	37.18	34.87	35.83
Point 4 (%)	35.61	37.84	37.91	35.42	36.77	36.91
Point 5 (%)	36.31	35.42	38.33	33.03	37.72	37.33
Point 6 (%)	33.23	30.03	35.44	32.17	36.33	34.01
Point 7 (%)	37.22	34.37	34.08	34.17	35.13	33.23
Point 8 (%)	34.32	32.33	33.13	34.33	32.15	33.68
Point 9 (%)	30.82	33.05	34.73	34.43	32.78	32.14