Accuracy and repeatability of a parallel robot for personalised minimally invasive surgery
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arXiv
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| Main Authors: | , , , , , , , , , |
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| Format: | Preprint |
| Published: |
2024
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| Subjects: | |
| Online Access: | |
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| _version_ | 1866914758192529408 |
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| author | Pisla, Doina Tucan, Paul Chablat, Damien Hajjar, Nadim Al Ciocan, Andra Pisla, Adrian Pusca, Alexandru Radu, Corina Pop, Grigore Gherman, Bogdan |
| author_facet | Pisla, Doina Tucan, Paul Chablat, Damien Hajjar, Nadim Al Ciocan, Andra Pisla, Adrian Pusca, Alexandru Radu, Corina Pop, Grigore Gherman, Bogdan |
| contents | 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2404_11140 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Accuracy and repeatability of a parallel robot for personalised minimally invasive surgery Pisla, Doina Tucan, Paul Chablat, Damien Hajjar, Nadim Al Ciocan, Andra Pisla, Adrian Pusca, Alexandru Radu, Corina Pop, Grigore Gherman, Bogdan Robotics 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. |
| title | Accuracy and repeatability of a parallel robot for personalised minimally invasive surgery |
| topic | Robotics |
| url | https://arxiv.org/abs/2404.11140 |