Control Strategy and Experiments for Robot Assisted Craniomaxillofacial Surgery System

Table 1

The D-H parameter identification results.

Joint	(o)	/(mm)	/(mm)	/(°)	Range
1	90.75		-0.08	0.052	-200~200 mm
2	0.02	0.04	0.13		-80°50°
3	-0.06	0.021	403.26		-60°60°
4	-89.53	-0.10	0.074		-70°70°
5	0.09		-0.06	0.04	0~200 mm