Pose Accuracy Analysis of Master Slave Surgical Robot System Based on Kinematics
نویسندگان
چکیده
The Position and orientation accuracy of robot manipulator has long become a major issue to be considered in its advanced application. The simplified expressions for the differential vector of the end-effector have been proposed based on the original expressions derived by Veitschegger and Wu in 1986. According to this new expression, 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.
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