Error Modelling for Master Slave Surgical Robot System
The Position and orientation accuracy of robot manipulator has long become a major issue to be considered in its advanced application. A linear error model that described the end-effector position and orientation errors of the master salve surgical robot system due to kinematics parameters errors has been presented. A computer program to perform the accuracy analysis has been developed in MATLAB. This methodology and software are applied to the accuracy analysis of a master-slave surgical robot system. The position error in its workspace cross section (XOZ) has been plotted as 3D surface graph and discussed.
Tian Huang, Dawei Zhang, Bin Lin, Anping Xu, Yanling Tian and Weiguo Gao
J. Y. Zhang et al., "Error Modelling for Master Slave Surgical Robot System", Materials Science Forum, Vols. 697-698, pp. 795-798, 2012