Use of a force-torque sensor for self-calibration of a 6-DOF medical robot

Joubair, Ahmed, Zhao, Long Fei, Bigras, Pascal et Bonev, Ilian A.. 2016. « Use of a force-torque sensor for self-calibration of a 6-DOF medical robot ». Sensors, vol. 16, nº 6.
Compte des citations dans Scopus : 7.

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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.

Item Type:	Peer reviewed article published in a journal
Uncontrolled Keywords:	Fonds d'auteur ÉTS, FAETS
Professor:	Professor Bigras, Pascal Bonev, Ilian
Affiliation:	Génie de la production automatisée, Génie de la production automatisée
Date Deposited:	21 Jun 2016 13:33
Last Modified:	05 Oct 2018 15:19
URI:	https://espace2.etsmtl.ca/id/eprint/12832

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