AI Article Synopsis
- In image-guided robotic interventions, a key challenge is the positioning error of the manipulator, necessitating the measurement of kinematic error during robot development.
- The study utilized a CNC machine to create a reference point and employed an NDI Polaris Hybrid® optical tracker to repeatedly measure positions, comparing the results to the established reference.
- Findings indicate that averaging multiple position measurements significantly enhances precision, achieving an accuracy range of 44 μm to 137 μm, suggesting that optical tracking can effectively assess robot kinematics with high accuracy.
Article Abstract
Background: In image-guided robotic interventions, an error component is related to the positioning error of the manipulator. Therefore, measuring the kinematic error is required during robot development. However, no specialized measurement device exists for this task. This study explores the possibility of using optical tracking for robot measurement.
Methods: A CNC machine is used to position an optical marker, generating a gold standard reference. Repeated position measurements are acquired with an NDI Polaris Hybrid® optical tracker at each static location, and averaged. These measurements are compared to the reference set.
Results: Averaging repeated static position measurements improves precision (200-500 samples). Measurement accuracy ranges between 44 μm and 137 μm in close proximity of the tracker.
Conclusions: Repeated static position measurements in the near field of view enable the optical tracker to outperform its general-purpose accuracy specification. Optical tracking may be used to test robot kinematics with a high degree of accuracy.
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| http://dx.doi.org/10.1002/rcs.1890 | DOI Listing |
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