Compensation of geometric and elastic errors in large manipulators with an application to a high accuracy medical system

Robotica

Volumn 20, Issue 3, 2002, Pages 341-352

  Drouet, Ph ^a   Dubowsky, S ^b   Zeghloul, S ^a   Mavroidis, C ^c  

^a UNIVERSITÉ DE POITIERS   (France)

^b Massachusetts Institute of Technology Cambridge   (United States)

^c RUTGERS UNIVERSITY   (United States)

Author keywords

Accuracy; Compensation; Errors; Large manipulators; Medical system

Indexed keywords

CALIBRATION; DEGREES OF FREEDOM (MECHANICS); ERROR COMPENSATION; IDENTIFICATION (CONTROL SYSTEMS); INDUSTRIAL ROBOTS; MATHEMATICAL MODELS; MATRIX ALGEBRA; MEDICAL APPLICATIONS; POSITION CONTROL; ROBOTICS; UNIVERSAL JOINTS; VECTORS;

ELASTIC EFFECT; END POINT ERROR; JACOBIAN MATRIX; PAYLOAD WEIGHT; ROBOTIC PATIENT POSITIONING SYSTEM;

MANIPULATORS;

EID: 0036572411     PISSN: 02635747     EISSN: None     Source Type: Journal    
DOI: 10.1017/S0263574702004058     Document Type: Article

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