Abstract
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.
Abstract (translated)
本文阐述了用于手术应用中并行机器人模型的准确性和重复性测量的方法。实验设置使用运动跟踪系统（用于准确度）和高精度测量臂（用于重复性）。通过将实验测量轨迹与并行机器人系统的运动模型定义的基线轨迹进行比较，获得了精度。通过在预定义的点上重复移动机器人平台，通过实验方法确定了重复性。
URL
https://arxiv.org/abs/2404.11140
