Error Modelling for Master Slave Surgical Robot System

Abstract:

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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.

Info:

Periodical:

Materials Science Forum (Volumes 697-698)

Edited by:

Tian Huang, Dawei Zhang, Bin Lin, Anping Xu, Yanling Tian and Weiguo Gao

Pages:

795-798

DOI:

10.4028/www.scientific.net/MSF.697-698.795

Citation:

J. Y. Zhang et al., "Error Modelling for Master Slave Surgical Robot System", Materials Science Forum, Vols. 697-698, pp. 795-798, 2012

Online since:

September 2011

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Price:

$35.00

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