Use of a Force-Torque Sensor for Self-Calibration of a 6-DOF Medical Robot
AbstractThe 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. View Full-Text
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Joubair, A.; Zhao, L.F.; Bigras, P.; Bonev, I.A. Use of a Force-Torque Sensor for Self-Calibration of a 6-DOF Medical Robot. Sensors 2016, 16, 798.
Joubair A, Zhao LF, Bigras P, Bonev IA. Use of a Force-Torque Sensor for Self-Calibration of a 6-DOF Medical Robot. Sensors. 2016; 16(6):798.Chicago/Turabian Style
Joubair, Ahmed; Zhao, Long F.; Bigras, Pascal; Bonev, Ilian A. 2016. "Use of a Force-Torque Sensor for Self-Calibration of a 6-DOF Medical Robot." Sensors 16, no. 6: 798.
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