Details
| Original language | English |
|---|---|
| Title of host publication | CISM International Centre for Mechanical Sciences, Courses and Lectures |
| Publisher | Springer International Publishing AG |
| Pages | 275-282 |
| Number of pages | 8 |
| ISBN (electronic) | 978-3-7091-0277-0 |
| ISBN (print) | 978-3-7091-0276-3 |
| Publication status | Published - 2010 |
Publication series
| Name | CISM International Centre for Mechanical Sciences, Courses and Lectures |
|---|---|
| Volume | 524 |
| ISSN (Print) | 0254-1971 |
| ISSN (electronic) | 2309-3706 |
Abstract
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.
Keywords
- Calibration strategy, Forward kinematic, Geometrical error, Joint angle, Position rotation
ASJC Scopus subject areas
- Mathematics(all)
- Modelling and Simulation
- Engineering(all)
- Mechanics of Materials
- Engineering(all)
- Mechanical Engineering
- Computer Science(all)
- Computer Science Applications
Cite this
- Standard
- Harvard
- Apa
- Vancouver
- BibTeX
- RIS
CISM International Centre for Mechanical Sciences, Courses and Lectures. Springer International Publishing AG, 2010. p. 275-282 (CISM International Centre for Mechanical Sciences, Courses and Lectures; Vol. 524).
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - Kinematic calibration of small robotic work spaces using fringe projection
AU - Haskamp, Klaus
AU - Reithmeier, E.
PY - 2010
Y1 - 2010
N2 - 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.
AB - 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.
KW - Calibration strategy
KW - Forward kinematic
KW - Geometrical error
KW - Joint angle
KW - Position rotation
UR - http://www.scopus.com/inward/record.url?scp=85052220466&partnerID=8YFLogxK
U2 - 10.1007/978-3-7091-0277-0_32
DO - 10.1007/978-3-7091-0277-0_32
M3 - Conference contribution
AN - SCOPUS:85052220466
SN - 978-3-7091-0276-3
T3 - CISM International Centre for Mechanical Sciences, Courses and Lectures
SP - 275
EP - 282
BT - CISM International Centre for Mechanical Sciences, Courses and Lectures
PB - Springer International Publishing AG
ER -