Accuracy and repeatability of a parallel robot for personalised minimally invasive surgery - Archive ouverte HAL Access content directly
Book Sections Year : 2024

Accuracy and repeatability of a parallel robot for personalised minimally invasive surgery

Abstract

The paper presents the methodology used for accuracy and repeatability measurements of the experimental model of a parallel robot developed for surgical applications. The experimental setup uses a motion tracking system (for accuracy) and a high precision measuring arm for position (for repeatability). The accuracy was obtained by comparing the trajectory data from the experimental measurement with a baseline trajectory defined with the kinematic models of the parallel robotic system. The repeatability was experi-mentally determined by moving (repeatedly) the robot platform in predefined points.
Fichier principal
Vignette du fichier
Accuracy and repeatability of a parallel robot for personalised minimally invasive surgery.pdf (637.06 Ko) Télécharger le fichier
Origin : Files produced by the author(s)

Dates and versions

hal-04548641 , version 1 (16-04-2024)

Licence

Attribution - NonCommercial

Identifiers

  • HAL Id : hal-04548641 , version 1

Cite

Doina Pisla, Paul Tucan, Damien Chablat, Nadim Al Hajjar, Andra Ciocan, et al.. Accuracy and repeatability of a parallel robot for personalised minimally invasive surgery. D. Pisla et al. 33rd International Conference on Robotics in Alpe-Adria-Danube Region, Springer, 2024. ⟨hal-04548641⟩
3 View
3 Download

Share

Gmail Facebook X LinkedIn More