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      [1]于凌濤,于曉硯,湯澤旭,等.手術機器人的運動學標定方法與實驗[J].哈爾濱工程大學學報,2020,41(7):1080-1086.[doi:10.11990/jheu.201904065]
       YU Lingtao,YU Xiaoyan,TANG Zexu,et al.Kinematic calibration method and experiments for surgical robots[J].hebgcdxxb,2020,41(7):1080-1086.[doi:10.11990/jheu.201904065]
      點擊復制

      手術機器人的運動學標定方法與實驗(/HTML)
      分享到:

      《哈爾濱工程大學學報》[ISSN:1006-6977/CN:61-1281/TN]

      卷:
      41
      期數:
      2020年7期
      頁碼:
      1080-1086
      欄目:
      出版日期:
      2020-07-05

      文章信息/Info

      Title:
      Kinematic calibration method and experiments for surgical robots
      作者:
      于凌濤 于曉硯 湯澤旭 王嵐
      哈爾濱工程大學 機電工程學院, 黑龍江 哈爾濱 150001
      Author(s):
      YU Lingtao YU Xiaoyan TANG Zexu WANG Lan
      College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China
      關鍵詞:
      手術機器人拉線傳感器位置檢測自標定參數標定絕對誤差距離精度
      分類號:
      TP242.3
      DOI:
      10.11990/jheu.201904065
      文獻標志碼:
      A
      摘要:
      為了提高手術機器人的定位精度,本文提出一種基于三維位置檢測裝置的運動學參數標定方法。設計一種基于拉線傳感器的位置檢測裝置,并采用空間解析幾何法建立裝置數學模型;通過搭建精度測量實驗平臺365英超体育投注,辨識裝置結構參數誤差;根據手術機器人的運動學模型365英超体育投注,建立絕對誤差模型和距離誤差模型,并選擇距離誤差模型求解運動學參數誤差。設計了3自由度微創腹腔手術機器人的運動學參數標定實驗,對于20組不同的運動距離,標定前的平均相對誤差為5.157 9%,標定后降低至1.419 6%,手術機器人的定位精度提高了72%,實驗結果驗證了該方法及檢測裝置的有效性。

      參考文獻/References:

      [1] ZHANG Hongmin, LI Xiaojian, DING Shuai, et al. A novel dynamic filed tracking algorithm of mirror-holding robot for minimally invasive surgery[C]//Proceedings of 2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Hong Kong, China, 2019.
      [2] 張旭, 鄭澤龍, 齊勇. 6自由度串聯機器人D-H模型參數辨識及標定[J]. 機器人, 2016, 38(3):360-370.ZHANG Xu, ZHENG Zelong, QI Yong. Parameter identification and calibration of D-H Model for 6-DOF serial robots[J]. Robot, 2016, 38(3):360-370.
      [3] LI Guozhi, ZHANG Fuhai, FU Yili, et al. Kinematic calibration of serial robot using dual quaternions[J]. Industrial robot, 2019, 46(2):247-258.
      [4] FURUTANI R, OZAKI M. Uncertainty of calibration of 2D planar coordinate measuring machine[J]. Measurement, 2012, 45(3):427-430.
      [5] 張立杰, 李永泉, 王艮川. 基于三坐標測量機的球面5R并聯機構運動學標定研究[J]. 中國機械工程, 2013, 24(22):2997-3002.ZHANG Lijie, LI Yongquan, WANG Genchuan. Research on kinematic calibration of spherical 5R parallel manipulator based on coordinate measuring machine[J]. China mechanical engineering, 2013, 24(22):2997-3002.
      [6] NUBIOLA A, BONEV I A. Absolute robot calibration with a single telescoping ballbar[J]. Precision engineering, 2014, 38(3):472-480.
      [7] QI Fei, PING Xueliang, LIU Jie, et al. The parameter identification and error compensation of robot based on dynacal system[J]. Applied mechanics and materials, 2014, 701-702:788-792.
      [8] FILION A, JOUBAIR A, TAHAN A S, et al. Robot calibration using a portable photogrammetry system[J]. Robotics and computer-integrated manufacturing, 2018, 49:77-87.
      [9] HAYAT A A, BOBY R A, SAHA S K, et al. A geometric approach for kinematic identification of an industrial robot using a monocular camera[J]. Robotics and computer-integrated manufacturing, 2019, 57:329-346.
      [10] LUO Ren, WANG Hao. Automated tool coordinate calibration system of an industrial robot[C]//Proceedings of 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems. Madrid, 2018:5592-5597.
      [11] 周學才, 張啟先, 鄭時雄. 一種新的機器人機構距離誤差模型及補償算法[J]. 機器人, 1991, 13(1):44-49.ZHOU Xuecai, ZHANG Qixian, ZHENG Shixiong. A new model with compensation algorithm for distance errors of robot mechanisms[J]. Robot, 1991, 13(1):44-49.

      備注/Memo

      備注/Memo:
      收稿日期:2019-04-19。
      基金項目:國家自然科學基金項目(61773007)365英超体育投注;黑龍江省自然科學基金項目(LH2019F016).
      作者簡介:于凌濤,男,副教授,博士生導師;于曉硯,男,博士研究生.
      通訊作者:于曉硯,E-mail:yuxiaoyan@hrbeu.edu.cn.
      更新日期/Last Update: 2020-08-15
      365英超体育投注

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