ABSTRACT Robot-CT is drawing great attention for its potential to support highly flexible scan trajectories and various scan modes with a single system. However, the quality of CT reconstruction largely depends on accurate knowledge of the scan geometry, i.e. position and orientation of the source and the detector. This imposes major challenges on current serial industrial robots. In order to realistically assess the impact of various robot characteristics on the Robot-CT reconstruction quality and to facilitate the development of a dedicated calibration method, this paper elaborates on a set of simulations based on the performance evaluation of an ABB industrial robot. Simulation results reveal that: (a) synchronous error motions of the twin robots can partially compensate for the robot errors; (b) offline calibration is a possible way to implement high accuracy Robot-CT due to the excellent repeatability of current industrial robots; (c) both robot positioning and orientation errors need to be compensated for to get a high quality reconstruction; (d) compensating for only the relative error cannot improve the final reconstruction quality: absolute positioning and orientation errors need to be measured and compensated for. External sensors or radiograph based absolute geometry calibration are needed to improve the reconstruction quality.

中文翻译：

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各种机器人特性对双机器人 CT 系统影响的研究

摘要 Robot-CT 因其在单个系统中支持高度灵活的扫描轨迹和各种扫描模式的潜力而备受关注。然而，CT 重建的质量在很大程度上取决于对扫描几何结构的准确了解，即源和探测器的位置和方向。这对当前的串行工业机器人提出了重大挑战。为了真实地评估机器人的各种特性对Robot-CT重建质量的影响，并促进专用标定方法的开发，本文详细阐述了一套基于ABB工业机器人性能评估的仿真。仿真结果表明：（a）双机器人同步误差运动可以部分补偿机器人误差；(b) 由于当前工业机器人具有出色的可重复性，离线校准是实现高精度 Robot-CT 的一种可能方式；(c) 机器人定位和方向误差都需要补偿以获得高质量的重建；(d) 仅补偿相对误差不能提高最终重建质量：需要测量和补偿绝对定位和定向误差。需要外部传感器或基于射线照相的绝对几何校准来提高重建质量。需要测量和补偿绝对定位和定向误差。需要外部传感器或基于射线照相的绝对几何校准来提高重建质量。需要测量和补偿绝对定位和定向误差。需要外部传感器或基于射线照相的绝对几何校准来提高重建质量。