The Robotic Motion Phantom application provides methods to accurately reproduce the full range and rate of patient-measured tumour motion using a robotically controlled phantom to provide precise 6 DoF geometric quality assurance for advanced radiotherapy approaches.
The 6DoF robot does not operate properly when subsequent points in time have the same position value - the robot seems to take these points as a single time point - likely an issue with inverting matrices when the robot tries to figure out what position to move to next (i.e. issue with calculating relative change in position).
Note that this error and the getInverse error when the 'home' button is initially clicked (#43) is likely related to a recent software update.
Current workaround: process 6DoF motion traces so if subsequent points have the same position, change the second by +0.1 mm or +0.1 degrees. This seems to work fine.
The 6DoF robot does not operate properly when subsequent points in time have the same position value - the robot seems to take these points as a single time point - likely an issue with inverting matrices when the robot tries to figure out what position to move to next (i.e. issue with calculating relative change in position).
Note that this error and the getInverse error when the 'home' button is initially clicked (#43) is likely related to a recent software update.
Current workaround: process 6DoF motion traces so if subsequent points have the same position, change the second by +0.1 mm or +0.1 degrees. This seems to work fine.