TABLE I.

Summary of maximum workspace and maximum speed of the 6D robotic phantom in all six dimensions. Values correspond to 1D motions in the recorded direction.

	X	Y	Z	Pitch	Roll	Yaw
Minimum position	−42.2 mm	−51.5 mm	−15.6 mm	−14.7°	−15.0°	−41.0°
Maximum position	42.2 mm	39.4 mm	15.5 mm	14.3°	15.0°	41.0°
Maximum speed (theoretical)	55.8 mm/s	53.8 mm/s	29.3 mm/s	27.1 deg/s	28.4 deg/s	69.7 deg/s
Maximum speed (experimental)	40.7 mm/s	38.1 mm/s	18.8 mm/s	17.4 deg/s	18.1 deg/s	44.6 deg/s