Accuracy and repeatability of a parallel robot for personalised minimally invasive surgery - Ecole Centrale de Nantes
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.
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hal-04548641 , version 1 (16-04-2024)

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  • HAL Id : hal-04548641 , version 1

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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. 33rd International Conference on Robotics in Alpe-Adria-Danube Region, Springer, 2024. ⟨hal-04548641⟩
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