Title :
A systematic error analysis of robotic manipulators: application to a high performance medical robot
Author :
Mavroidis, C. ; Dubowsky, S. ; Drouet, P. ; Hintersteiner, J. ; Flanz, J.
Author_Institution :
Dept. of Mech. & Aerosp. Eng., Rutgers Univ., Piscataway, NJ, USA
Abstract :
A systematic methodology to calculate the end-effector position and orientation errors of a robotic manipulator is presented. The method treats the physical error sources in a unified manner during the system´s design so that the effect they have on the end-effector positioning accuracy can be compared and the dominant sources identified. Based on this methodology, a computer program has been developed that can perform the error analysis on any serial link manipulator. This methodology and the software are applied here to the error analysis of a six degree of freedom high performance medical manipulator, for positioning in proton therapy
Keywords :
biomedical equipment; error analysis; manipulator kinematics; radiation therapy; end-effector orientation errors; end-effector position errors; end-effector positioning accuracy; error analysis; high-performance medical manipulator; high-performance medical robot; physical error sources; proton therapy; robotic manipulator; robotic manipulators; serial link manipulator; systematic error analysis; Application software; Calibration; Computer errors; Error analysis; Hospitals; Manipulators; Medical robotics; Medical treatment; Protons; Robot kinematics;
Conference_Titel :
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3612-7
DOI :
10.1109/ROBOT.1997.614262
