摘要
针对脑外科手术机器人的特点,即要求较高的绝对定位精度和较为简单的标定操作,提出一种通过工业相机完成的DH参数标定方法。该方法的核心是一种基于位姿误差的误差方程。通过对其进行最优化完成DH参数标定,使绝对定位误差从8.564 5mm降低至0.637 8mm。并且该方法具有设备简单、操作简易等优点,适用于医疗手术环境。
This paper presents a method based on vision for the calibration of surgery robot＇s DH parameters.The robot calibration model is built based on the robot model and the camera model.The error equation is built based on the position and posture error,and then is optimized by numerical method.This calibration method makes the absolute accuracy of robot raised to 0.6378 mm from8.5645 mm,with the advantages of simple operation and simple devices,which is convenient for surgeon environment.
出处
《机械工程与自动化》
2016年第4期1-3,共3页
Mechanical Engineering & Automation
基金
国家"863"高技术研究发展计划项目(2013AA041201
2012AA041606)
