A Novel Flexible Virtual Fixtures for Teleoperation

Table 1

The results of the safe pipe.

Time	Joints values						𝐷1/mm	𝐷2/mm	PorN
	𝜃1/(°)	𝜃2/(°)	𝜃3/(°)	𝜃4/(°)	𝜃5/(°)	𝜃6/(°)
11th	0.13	−94.25	−64.33	0.35	−94.45	−0.44	1.8	2.0	N
12th	0.16	−94.42	−64.14	0.41	−94.63	−0.16	1.3	1.0	N
13th	0.21	−94.41	−64.34	0.36	−60.46	−0.34	0.8	1.0	Y
14th	0.31	−94.31	−64.54	0.33	−60.42	−0.21	1.1	1.0	N
15th	0.41	−94.21	−64.23	0.31	−60.41	−0.13	1.5	1.0	N

PorN: pass through or not.