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Article

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
Sensors 2016, 16(6), 798; https://doi.org/10.3390/s16060798
Received: 2 March 2016 / Revised: 24 May 2016 / Accepted: 26 May 2016 / Published: 31 May 2016
(This article belongs to the Section Physical Sensors)
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
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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. https://doi.org/10.3390/s16060798

AMA Style

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. https://doi.org/10.3390/s16060798

Chicago/Turabian Style

Joubair, Ahmed, Long F. Zhao, Pascal Bigras, and Ilian A. Bonev. 2016. "Use of a Force-Torque Sensor for Self-Calibration of a 6-DOF Medical Robot" Sensors 16, no. 6: 798. https://doi.org/10.3390/s16060798

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