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. Author manuscript; available in PMC: 2020 Apr 1.
Published in final edited form as: IEEE Trans Robot. 2018 Nov 14;35(2):353–370. doi: 10.1109/TRO.2018.2878906

TABLE III.

Differences in Tip Position Between Standard and Nonzero-Clearance Models

Model Mean pos. diff. (mm) Max. pos. diff. (mm) Mean tan. diff. (°) Max. tan. diff. (°)
Clearance 1.8(±1.0) 4.2 2.7(±1.2) 5.1
Friction 6.1(±5.7) 23.8 10.7(±9.8) 45.6