Table 2 Modal experimental joint angle under fixed attitude(unit:°).

From: Influence of different position modal parameters on milling chatter stability of orthopedic surgery robots

Positions

θ1

θ2

θ3

θ4

θ5

θ6

1

4.88

− 90.46

100.51

258.22

90.45

141.44

2

80.19

− 75.73

96.51

248.86

88.38

218.40

3

36.91

− 84.20

100.39

251.16

91.03

169.77

4

11.81

− 72.57

77.67

263.17

88.67

150.59

5

60.38

− 72.65

79.45

262.91

89.03

197.86

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