Kinematic Calibration of 6-UPS Surgical Parallel Robot
In the applications of parallel robots,Kinematic calibration is one of the most effective methods to improve the accuracy of surgical parallel robots.In this paper,a brief kinematic calibration method which is used in the 6-UPS (Universal Prismatic Spherical) surgical parallel robot is discussed.Firstly,the primary error factors needed to be identified are proposed based on the kinematic mathematical model of the 6-UPS surgical parallel robot.Then the method of pose measurement is studied,and the definitions of the position deviation and orientation deviation which are used to evaluate the experimental results are illustrated.Lastly,an iterative least squares procedure is used to identify the error parameters,and the kinematic calibration experiment is carried out.From the statistical analysis of the experimental results,the effect of the method to improve the accuracy of the 6-UPS surgical parallel robot is demonstrated.
Kinematic Calibration Parallel Robot Pose Measurement Optical Position Sensor
Weidong Wang Litao Zhang Junlin Ma
State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin, Heilongjiang Province, 150001, China
国际会议
2013 ICME International Conference on Complex Medical Engineering(2013 ICME复合医学工程国际会议)
北京
英文
369-374
2013-05-25（万方平台首次上网日期，不代表论文的发表时间）