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

33rd International Conference on Robotics in Alpe-Adria-Danube Region, Springer, 2024 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 s...

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Main Authors Pisla, Doina, Tucan, Paul, Chablat, Damien, Hajjar, Nadim Al, Ciocan, Andra, Pisla, Adrian, Pusca, Alexandru, Radu, Corina, Pop, Grigore, Gherman, Bogdan
Format Journal Article
LanguageEnglish
Published 17.04.2024
Subjects
Computer Science - Robotics
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Summary:33rd International Conference on Robotics in Alpe-Adria-Danube Region, Springer, 2024 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.
DOI:10.48550/arxiv.2404.11140