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A systematic error analysis of robotic manipulators: application to a high performance medical robot

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5 Author(s)
Mavroidis, C. ; Dept. of Mech. & Aerosp. Eng., Rutgers Univ., Piscataway, NJ, USA ; Dubowsky, S. ; Drouet, P. ; Hintersteiner, J.
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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