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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. 7.

Fig. 7

Error in the parameter value: Initial deviation of x1 = 10mm, β = 3° and γ = 5°. Error in the parameter value is 10%. Noise in the depth measurement taken to be within ±1mm. Notice that the controller stabilizes the needle tip to the desired location even when there is an error in the model parameter, κ.