Fig. 8:

Trajectory tracking with task space control. (a) Experimental setup, (b) robot states at 15 s intervals from $t=0\mathrm{s}$ to $45\mathrm{s}$ (control ON) and $t=300\mathrm{s}$ to $480\mathrm{s}$, and (c) comparison between control OFF and control ON for tracking the end point $\left(p_x,p_y,p_z\right)$ and the orientation of the implant holder $\left({\theta }_d\right)$.