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



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



Sensors 16(6):



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.

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Accession: 059213428

Download citation: RISBibTeXText

PMID: 27258278

DOI: 10.3390/s16060798


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