학술논문
Accuracy and repeatability of a parallel robot for personalised minimally invasive surgery
Document Type
Working Paper
Author
Source
33rd International Conference on Robotics in Alpe-Adria-Danube Region, Springer, 2024
Subject
Language
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.