A Novel Flexible Virtual Fixtures for Teleoperation

Table 2

The results of the warning pipe.

Time	Joints values						𝐷3/mm	𝐷4/mm	PorN
	𝜃1/(°)	𝜃2/(°)	𝜃3/(°)	𝜃4/(°)	𝜃5/(°)	𝜃6/(°)
11th	0.13	−94.25	−64.33	0.35	−94.45	−0.44	7.7	9.3	N
12th	0.16	−94.42	−64.14	0.41	−94.63	−0.16	8.2	8.8	N
13th	0.21	−94.41	−64.34	0.36	−60.46	−0.34	8.7	8.3	Y
14th	0.31	−94.31	−64.54	0.33	−60.42	−0.21	8.4	8.6	N
15th	0.41	−94.21	−64.23	0.31	−60.41	−0.13	8.0	9.0	N

PorN: pass through or not.