Accuracy and repeatability of a parallel robot for personalised minimally invasive surgery
Résumé
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.
Domaines
Robotique [cs.RO]
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Accuracy and repeatability of a parallel robot for personalised minimally invasive surgery.pdf (637.06 Ko)
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