| Autor: |
Haskamp, Klaus, Reithmeier, E. |
| Zdroj: |
Romansy 18 Robot Design, Dynamics & Control; 2010, p275-282, 8p |
| Abstrakt: |
In recent years a number of medical therapy concepts have taken hold in the field of microsurgery. These concepts require measurement accuracies below 0.3 mm. The positioning accuracy needed in surgical applications is higher than what surgeons usually are able to achieve. In this case robot manipulators can be employed to support surgical skills. The robotic movement has to be sufficiently reliable and has to incorporate safety procedures like fast collision detection and avoidance. Furthermore, important premisses to the technical system were given by the absolute and the relative accuracy. In industrial applications the absolute accuracy is enhanced by calibrating the kinematic parameters and compensating manufacturing errors. The achieved accuracies are less than 0.7 mm and do not comply with the actual medical standard. In this article a new method for modeling and calibrating the kinematics of robots with the aim of achieving precisions less than 0.1mm respectively 0.1o in a 1000 mm3 work space is presented. The used mathematical description of the kinematics and the calibration strategy is explained in detail. [ABSTRACT FROM AUTHOR] |
| Databáze: |
Complementary Index |
| Externí odkaz: |
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