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Accuracy Testing - Coggle Diagram
Accuracy Testing
ROBOT : Algorithmic error alone
Definition and improvisation
Can we go with the graph-based method
(placing a needle perpendicular to the table.) Prone to some error
Only the target point can be verified physically.
Needle alignment : Yuvarasu
How to use FAROs in this space
Registration + Targeting
Robot Image testing (similar to CT)
Involving registration (3 point)
Need need bush to do this
Need GIG setup from Mech. team (Nivas)
Devices
FAROS
Repeatability (0.005)
0.05 including vibration
IR : NDI camera
Repeatability (0.5mm)
UR5e
Repeatability (0.05)
SSR component wise error distribution
Entry, Target and Angulation error
How to use FAROs in this space
Phantom :
(How we are going to measure the error)
Possible errors
Registration marker errors (
0.5 + 0.8 + 0.6 (max
))
Tool offset : 0.6 mm
Device registration marker error : 0.8mm
NDI tool Repeatability : 0.5mm
Robot algorithmic error
Registration
(Surface
0.2-0.3
, Device
0.3
)