Kinematic calibration and pose measurement of a medical parallel manipulator by optical position sensors

Author

Bai, Shaoping ; Teo, Ming Yeong

Author_Institution

Sch. of Mech. & Production Eng., Nanyang Technol. Univ., Singapore

Volume

1

fYear

2002

fDate

2-5 Dec. 2002

Firstpage

419

Abstract

The application of a parallel manipulator requires kinematic calibration of the base and tool transformation in order to eliminate the errors resulting from manufacturing and assembly of connecting parts. In this paper, a calibration method of base and tool transformation is developed by virtue of optical position sensors. Error model for calibration is constructed and an iterative calibration procedure is introduced. In addition, the pose measurement using a commercial 3D position measurement system, OPTOTRAK 3020, is described. Simulation and experiment results show that the method effectively improves the accuracy of manipulator.

Keywords

calibration; manipulators; medical robotics; optical sensors; surgery; OPTOTRAK 3020; iterative calibration; kinematic calibration; medical parallel manipulator; optical position sensors; pose measurement; tool transformation; Biomedical optical imaging; Calibration; Kinematics; Optical sensors; Position measurement; Radio access networks; Robots; Tin;

fLanguage

English

Publisher

ieee

Conference_Titel

Control, Automation, Robotics and Vision, 2002. ICARCV 2002. 7th International Conference on

Print_ISBN

981-04-8364-3

Type

conf

DOI

10.1109/ICARCV.2002.1234858

Filename

1234858