The paper presents the methodology used for accuracy and repeatability measurements of the experimental model of a parallel robot developed for surgical applications. The experimental setup uses a motion tracking system (for accuracy) and a high precision measuring arm for position (for repeatability). The accuracy was obtained by comparing the trajectory data from the experimental measurement with a baseline trajectory defined with the kinematic models of the parallel robotic system. The repeatability was experi-mentally determined by moving (repeatedly) the robot platform in predefined points.
@article{arxiv.2404.11140,
title = {Accuracy and repeatability of a parallel robot for personalised minimally invasive surgery},
author = {Doina Pisla and Paul Tucan and Damien Chablat and Nadim Al Hajjar and Andra Ciocan and Adrian Pisla and Alexandru Pusca and Corina Radu and Grigore Pop and Bogdan Gherman},
journal= {arXiv preprint arXiv:2404.11140},
year = {2024}
}