摘要
采用成熟的机器人误差理论建立了主-从手术机器人位姿误差模型,开发了基于MATLAB的位姿误差计算程序.采用蒙特卡罗法绘制了最大位姿误差图谱,对两种主手与三种从手机器人进行了仿真计算和运动一致性分析,给出了运动一致性条件,为进行主-从操作机器人精度设计提供了理论依据.
Based a matured error analysis approach of industrial robots, the pose error model of master-slave surgical robot is set up. A computer program based on MATLAB is developed and the maximum positional and orientation errors are calculated with Monte Cairo method. Two typical master robots and three slave robots are analyzed. Through cross matching between each pair of master-slave robots some conditions are given out which are useful to make the precision design of master-slave surgical robots.
出处
《沈阳大学学报（自然科学版）》
CAS
2013年第3期204-208,共5页
Journal of Shenyang University：Natural Science
基金
国家高技术研究发展计划(2007AA04Z205)
关键词
主-从操作
手术机器人
位姿误差
精度匹配
master-slave operation
surgical robot
pose error
precision matching
