Paper Info
Title
A systematic error analysis of robotic manipulators: application to a high performance medical robot
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
Year
DOI
Venue
1997
10.1109/ROBOT.1997.614262
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference
Keywords
Field
DocType
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
Serial communication,Parallel manipulator,Degrees of freedom (statistics),Simulation,Control theory,Computer science,Medical robot,Control engineering,Software,Computer program,Robot manipulator,Mobile manipulator
Conference
Volume
ISSN
ISBN
2
1050-4729
0-7803-3612-7
Citations 
PageRank 
References 
7
1.14
5
Authors
4
Name
Order
Citations
PageRank
C. Mavroidis1377.84
Steven Dubowsky21365260.81
Drouet, P.371.14
Hintersteiner, J.471.14