. Author manuscript; available in PMC: 2025 Jan 1.

Published in final edited form as: IEEE Trans Robot. 2023 Oct 26;40:554–572. doi: 10.1109/tro.2023.3327811

TABLE VI.

Case 1 Kinetostatic Model Computation Time Statistics

Loading Case	Max. Time $(s)$	Min. Time $(s)$	Mean Time $(s)$
Unloaded	0.859	0.3594	0.586
Tip Load IP	3.469	2.094	2.537
Mid Load IP	7.469	2.594	4.527
Tip Load OOP	7.266	4.125	5.734