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

Volume

2

fYear

1997

fDate

20-25 Apr 1997

Firstpage

980

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on

Conference_Location

Albuquerque, NM

Print_ISBN

0-7803-3612-7

Type

conf

DOI

10.1109/ROBOT.1997.614262

Filename

614262