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Sensors 2016, 16(6), 798; doi:10.3390/s16060798

Use of a Force-Torque Sensor for Self-Calibration of a 6-DOF Medical Robot

École de Technologie Supérieure (ÉTS), Montreal, QC H3C 1K3, Canada
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Academic Editor: Vittorio M. N. Passaro
Received: 2 March 2016 / Revised: 24 May 2016 / Accepted: 26 May 2016 / Published: 31 May 2016
(This article belongs to the Section Physical Sensors)
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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. View Full-Text
Keywords: robot calibration; robot accuracy; observability; medical robot; robot kinematic; robotic metrology robot calibration; robot accuracy; observability; medical robot; robot kinematic; robotic metrology
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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MDPI and ACS Style

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.

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