Use of a Force-Torque Sensor for Self-Calibration of a 6-DOF Medical Robot.
Sensors (Basel)
; 16(6)2016 May 31.
Article
em En
| MEDLINE
| ID: mdl-27258278
ABSTRACT
The aim of this paper is to improve the position accuracy of a six degree of freedom medical robot. The improvement in accuracy is achieved without the use of any external measurement device. Instead, this work presents a novel calibration approach based on using an embedded force-torque sensor to identify the robot's kinematic parameters and thereby enhance the positioning accuracy. A simulation study demonstrated that our calibration approach is effective, whether or not any measurement noise is present the position error is improved, inside the robot target workspace, from 12 mm to 0.320 mm, for the maximum values, and from 9 mm to 0.2771 mm, for the mean errors.
Texto completo:
1
Coleções:
01-internacional
Base de dados:
MEDLINE
Tipo de estudo:
Prognostic_studies
Idioma:
En
Revista:
Sensors (Basel)
Ano de publicação:
2016
Tipo de documento:
Article
País de afiliação:
Canadá