DocumentCode :
3631778
Title :
Kinematics, workspace, design and accuracy analysis of RPRPR medical parallel robot
Author :
Cristian Szep;Sergiu-Dan Stan;Vencel Csibi;Milos Manic;Radu Balan
Author_Institution :
Dept. of Mechatronics, Technical University of Cluj-Napoca, Romania
fYear :
2009
Firstpage :
75
Lastpage :
80
Abstract :
In recent years, parallel robots find many applications in human-systems interaction, medical robots, rehabilitation, exoskeletons, to name a few. These applications are characterized by many imperatives, with robust precision and dynamic workspace computation as the two ultimate ones. Practical methods of kinematic´s calibration make use of the linear differential error of the kinematics´ model. This model is based on the Jacobian of the direct kinematics´ model with respect to parameters of this model. The definition of the robot accuracy is usually related to robot positioning, so that the accuracy is defined as a measure of robot ability to attain a required position with respect to a fixed absolute reference coordinate frame. Such a definition is easily extended to trajectory tracking. Then, accuracy can be defined as a measure of robot ability to track the prescribed trajectory with respect to the absolute coordinate frame.
Keywords :
"Parallel robots","Robot kinematics","Coordinate measuring machines","Trajectory","Medical robotics","Exoskeletons","Robustness","Calibration","Jacobian matrices","Position measurement"
Publisher :
ieee
Conference_Titel :
Human System Interactions, 2009. HSI ´09. 2nd Conference on
ISSN :
2158-2246
Print_ISBN :
978-1-4244-3959-1
Electronic_ISBN :
2158-2254
Type :
conf
DOI :
10.1109/HSI.2009.5090957
Filename :
5090957
Link To Document :
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