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. Author manuscript; available in PMC: 2011 Feb 23.
Published in final edited form as: IEEE Int Conf Robot Autom. 2007 Apr 10;2007:3015–3020. doi: 10.1109/ROBOT.2007.363930

Fig. 6.

Fig. 6

With measurement noise: Simulation with insertion speed of 0.5cm/s and a deviation of x1 = 10mm, β = 3° and γ = 5°. Noise in the depth measurement is within ±1mm.