Referenced Items are not available for this document.
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
Published in:
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
(Volume:2
)
Date of Conference: 20-25 Apr 1997
- Page(s):
- 980 - 985 vol.2
- Meeting Date :
- 20 Apr 1997-25 Apr 1997
- Print ISBN:
- 0-7803-3612-7
- INSPEC Accession Number:
- 5679854
- Conference Location :
- Albuquerque, NM
- Digital Object Identifier :
- 10.1109/ROBOT.1997.614262
- Product Type:
- Conference Publications
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