Use of a Force-Torque Sensor for Self-Calibration of a 6-DOF Medical Robot.
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.
&#201;cole de Technologie Sup&#233;rieure (&#201;TS), Montreal, QC H3C 1K3, Canada. ahmed.joubair.1@ens.etsmtl.ca.
Ahmed
A
Joubair
&#201;cole de Technologie Sup&#233;rieure (&#201;TS), Montreal, QC H3C 1K3, Canada. longfei.zhao.1@ens.etsmtl.ca.
Long Fei
LF
Zhao
&#201;cole de Technologie Sup&#233;rieure (&#201;TS), Montreal, QC H3C 1K3, Canada. pascal.bigras@etsmtl.ca.
Pascal
P
Bigras
&#201;cole de Technologie Sup&#233;rieure (&#201;TS), Montreal, QC H3C 1K3, Canada. ilian.bonev@etsmtl.ca.
Ilian A
IA
Bonev
medical robot; observability; robot accuracy; robot calibration; robot kinematic; robotic metrology