Related Experiment Video
Updated: Feb 15, 2026
09:00
Insect-controlled Robot: A Mobile Robot Platform to Evaluate the Odor-tracking Capability of an Insect
Published on: December 19, 2016
15.3K
Using optical tracking for kinematic testing of medical robots
Changhan Jun1, Ryan Decker1, Dan Stoianovici1
1Robotics Laboratory, Urology Department, Johns Hopkins University, Baltimore, Maryland, USA.
Summary
Optical tracking can precisely measure robotic manipulator positioning errors. Averaging repeated measurements improves accuracy, making optical tracking suitable for robot kinematic testing.
Area of Science:
- Robotics
- Optical Measurement
- Kinematics
Background:
- Robotic interventions require precise manipulator positioning.
- Kinematic error measurement is crucial for robot development.
- A specialized device for this measurement is currently unavailable.
Purpose of the Study:
- To explore optical tracking for robot kinematic error measurement.
- To assess the accuracy and precision of optical tracking in this application.
Main Methods:
- A CNC machine positioned an optical marker to create a reference.
- An NDI Polaris Hybrid® optical tracker acquired repeated position measurements.
- Measurements were averaged and compared to the reference standard.
Main Results:
- Averaging 200-500 repeated static position measurements enhanced precision.
- Measurement accuracy ranged from 44 µm to 137 µm near the tracker.
- Optical tracking demonstrated high accuracy in close proximity.
Conclusions:
- Repeated static measurements improve optical tracker performance beyond specifications.
- Optical tracking is a viable method for accurate robot kinematic testing.
- This technique can be applied to robot development and quality assurance.
Related Concept Videos
01:26Kinematic Equations - I
16.5K
When an object moves with constant acceleration, the velocity of the object changes at a constant rate throughout the motion. The kinematic equations of motions are derived for such cases where the acceleration of the object is constant. The first kinematic equation gives an insight into the relationship between velocity, acceleration, and time. We can see, for example:
16.5K
01:17Kinematic Equations - II
14.9K
The second kinematic equation expresses the final position of an object in terms of its initial position, the distance traveled with the initial constant velocity, and the distance traveled due to a change in velocity. Similar to the first kinematic equation, this equation is also only valid when the acceleration is constant throughout the motion of an object.
Suppose a car merges into freeway traffic on a 200 m long ramp. If its initial velocity is 10 m/s and it accelerates at 2 m/s2, then the...
Suppose a car merges into freeway traffic on a 200 m long ramp. If its initial velocity is 10 m/s and it accelerates at 2 m/s2, then the...
14.9K
01:30Kinematic Equations for Rotation
908
In mechanics, when one observes a rigid body in rotational motion with constant angular acceleration, it is possible to establish equations for its rotational kinematics. This process resembles how linear kinematics are dealt with in simpler motion studies.
For instance, imagine a point A on a rigid body engaged in circular motion. The translational velocity of this particular point can be calculated by taking the time derivatives of the displacement equation, which essentially measures the...
For instance, imagine a point A on a rigid body engaged in circular motion. The translational velocity of this particular point can be calculated by taking the time derivatives of the displacement equation, which essentially measures the...
908
01:23Inhaled Medications
843
Inhaled medications are crucial for managing chronic obstructive pulmonary disease (COPD) and asthma. They are essential for effective treatment and control, ensuring optimal respiratory health and well-being. Inhaled medication delivers drugs directly to the lungs, providing a rapid onset of action and reducing systemic side effects compared to oral or injectable medications. Three primary types of inhalation devices are used to administer these medications: nebulizers, metered-dose inhalers...
843
01:18Kinematic Equations - III
11.8K
The first two kinematic equations have time as a variable, but the third kinematic equation is independent of time. This equation expresses final velocity as a function of the acceleration and distance over which it acts. The fourth kinematic equation does not have an acceleration term and provides the final position of the object at time t in terms of the initial and final velocities. This equation is useful when the value of the constant acceleration is unknown.
Using the kinematic equations,...
Using the kinematic equations,...
11.8K
01:15Kinematic Equations: Problem Solving
29.0K
When analyzing one-dimensional motion with constant acceleration, the problem-solving strategy involves identifying the known quantities and choosing the appropriate kinematic equations to solve for the unknowns. Either one or two kinematic equations are needed to solve for the unknowns, depending on the known and unknown quantities. Generally, the number of equations required is the same as the number of unknown quantities in the given example. Two-body pursuit problems always require two...
29.0K