  The paper presents the methodology used for accuracy and repeatability
measurements of the experimental model of a parallel robot developed for
surgical applications. The experimental setup uses a motion tracking system
(for accuracy) and a high precision measuring arm for position (for
repeatability). The accuracy was obtained by comparing the trajectory data from
the experimental measurement with a baseline trajectory defined with the
kinematic models of the parallel robotic system. The repeatability was
experi-mentally determined by moving (repeatedly) the robot platform in
predefined points.
