High Power Laser and Particle Beams, Volume. 35, Issue 6, 064002(2023)
Coordinate unification between treatment room and the robot system of Heavy Ion Medical Machine
Figures & Tables(7)
Fig. 3. Error comparison before and after the conversion of the coordinate system
Table 1. Center position parameters of the flange on the teach pendant
View tableView in ArticleTable 1. Center position parameters of the flange on the teach pendant
No. x/mm y/mm z/mm A/(°) B/(°) C/(°) $ {P}_{{\rm{B}}}^{{\rm{E}}}1 $ 764.93 1378.01 −2187.06 0 0 0 $ {P}_{{\rm{B}}}^{{\rm{E}}}2 $ 964.93 1378.01 −2187.06 0 0 0 $ {P}_{{\rm{B}}}^{{\rm{E}}}3 $ 964.93 1578.01 −2187.06 0 0 0 $ {P}_{{\rm{B}}}^{{\rm{E}}}4 $ 764.93 1578.01 −2187.06 0 0 0 $ {P}_{{\rm{B}}}^{{\rm{E}}}5 $ 564.93 1578.01 −2187.06 0 0 0 $ {P}_{{\rm{B}}}^{{\rm{E}}}6 $ 564.93 1378.01 −2187.06 0 0 0 $ {P}_{{\rm{B}}}^{{\rm{E}}}7 $ 564.93 1178.01 −2187.06 0 0 0 $ {P}_{{\rm{B}}}^{{\rm{E}}}8 $ 764.93 1178.01 −2187.06 0 0 0 $ {P}_{{\rm{B}}}^{{\rm{E}}}9 $ 964.93 1178.01 −2187.06 0 0 0 $ {P}_{{\rm{B}}}^{{\rm{E}}}10 $ 964.93 1178.01 −1987.06 0 0 0 $ {P}_{{\rm{B}}}^{{\rm{E}}}11 $ 964.93 1378.01 −1987.06 0 0 0 $ {P}_{{\rm{B}}}^{{\rm{E}}}12 $ 964.93 1578.01 −1987.06 0 0 0 $ {P}_{{\rm{B}}}^{{\rm{E}}}13 $ 764.93 1578.01 −1987.06 0 0 0 $ {P}_{{\rm{B}}}^{{\rm{E}}}14 $ 564.93 1578.01 −1987.06 0 0 0 $ {P}_{{\rm{B}}}^{{\rm{E}}}15 $ 564.93 1378.01 −1987.06 0 0 0 $ {P}_{{\rm{B}}}^{{\rm{E}}}16 $ 564.93 1178.01 −1987.06 0 0 0 $ {P}_{{\rm{B}}}^{{\rm{E}}}17 $ 764.93 1178.01 −1987.06 0 0 0 $ {P}_{{\rm{B}}}^{{\rm{E}}}1 $ 8764.93 1378.01 −1987.06 0 0 0
Table 2. Coordinates of the calibration point in the ISO coordinate system of the treatment room
View tableView in ArticleTable 2. Coordinates of the calibration point in the ISO coordinate system of the treatment room
No. x/mm y/mm z/mm $ {P}_{{\rm{ISO}}} $ 1−817.51 −638.78 −485.96 $ {P}_{{\rm{ISO}}} $ 2−1017.28 −639.84 −485.32 $ {P}_{{\rm{ISO}}} $ 3−1016.9 −640.17 −285.34 $ {P}_{{\rm{ISO}}} $ 4−817.03 −639.09 −285.97 $ {P}_{{\rm{ISO}}} $ 5−617.22 −637.97 −286.48 $ {P}_{{\rm{ISO}}} $ 6−617.58 −637.71 −486.5 $ {P}_{{\rm{ISO}}} $ 7−617.95 −637.39 −686.42 $ {P}_{{\rm{ISO}}} $ 8−817.79 −638.49 −685.91 $ {P}_{{\rm{ISO}}} $ 9−1017.65 −639.55 −685.27 $ {P}_{{\rm{ISO}}} $ 10−1018.77 −439.62 −684.97 $ {P}_{{\rm{ISO}}} $ 11−1018.44 −439.89 −484.95 $ {P}_{{\rm{ISO}}} $ 12−1017.99 −440.14 −285.03 $ {P}_{{\rm{ISO}}} $ 13−818.09 −439.06 −285.59 $ {P}_{{\rm{ISO}}} $ 14−618.24 −438.03 −286.13 $ {P}_{{\rm{ISO}}} $ 15−618.62 −437.72 −486.17 $ {P}_{{\rm{ISO}}} $ 16−619 −437.44 −686.15 $ {P}_{{\rm{ISO}}} $ 17−818.92 −438.51 −685.54 $ {P}_{{\rm{ISO}}} $ 18−818.58 −438.8 −485.58
Table 3. Coordinates of the calibration point under the robot base system
View tableView in ArticleTable 3. Coordinates of the calibration point under the robot base system
No. x/mm y/mm z/mm $ {P}_{{\rm{B}}} $ 1916.26 1122.57 −1930.1 $ {P}_{{\rm{B}}} $ 21116.26 1122.57 −1930.1 $ {P}_{{\rm{B}}} $ 31116.26 1322.57 −1930.1 $ {P}_{{\rm{B}}} $ 4916.26 1322.57 −1930.1 $ {P}_{{\rm{B}}} $ 5716.26 1322.57 −1930.1 $ {P}_{{\rm{B}}} $ 6716.26 1122.57 −1930.1 $ {P}_{{\rm{B}}} $ 7716.26 922.57 −1930.1 $ {P}_{{\rm{B}}} $ 8916.26 922.57 −1930.1 $ {P}_{{\rm{B}}} $ 91116.26 922.57 −1930.1 $ {P}_{{\rm{B}}} $ 101116.26 922.57 −1730.1 $ {P}_{{\rm{B}}} $ 111116.26 1122.57 −1730.1 $ {P}_{{\rm{B}}} $ 121116.26 1322.57 −1730.1 $ {P}_{{\rm{B}}} $ 13916.26 1322.57 −1730.1 $ {P}_{{\rm{B}}} $ 14716.26 1322.57 −1730.1 $ {P}_{{\rm{B}}} $ 15716.26 1122.57 −1730.1 $ {P}_{{\rm{B}}} $ 16716.26 922.57 −1730.1 $ {P}_{{\rm{B}}} $ 17916.26 922.57 −1730.1 $ {P}_{{\rm{B}}} $ 18916.26 1122.57 −1730.05
Table 4. Coordinate conversion accuracy
View tableView in ArticleTable 4. Coordinate conversion accuracy
Δxmax/mm δRMS-x Δymax/mm δRMS-y Δzmax/mm δRMS-z ΔMag-max/mm ΔRMS-mag/mm 0.26 0.14 0.06 0.03 0.15 0.09 0.3 0.16
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Yongwei Gao, Wenjun Chen, Junjie Yao, Xinlong Zhu, Ning Zhao, Xudong Zhang, Wenfeng Zhang, Peng Ju. Coordinate unification between treatment room and the robot system of Heavy Ion Medical Machine[J]. High Power Laser and Particle Beams, 2023, 35(6): 064002
Paper Information
Category: Particle Beams and Accelerator Technology
Received: Sep. 29, 2022
Accepted: Apr. 17, 2023
Published Online: Jul. 10, 2023
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