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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Bonev I. 2016 12832 Use of a Force-Torque Sensor for Self-Calibration.pdf - Published Version Use licence: Creative Commons CC BY. Download (2MB) | Preview |
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 |
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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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