[1]于凌涛,于晓砚,汤泽旭,等.手术机器人的运动学标定方法与实验[J].哈尔滨工程大学学报,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]
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手术机器人的运动学标定方法与实验(/HTML)
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《哈尔滨工程大学学报》[ISSN:1006-6977/CN:61-1281/TN]

卷:
41
期数:
2020年7期
页码:
1080-1086
栏目:
出版日期:
2020-07-05

文章信息/Info

Title:
Kinematic calibration method and experiments for surgical robots
作者:
于凌涛 于晓砚 汤泽旭 王岚
哈尔滨工程大学 机电工程学院, 黑龙江 哈尔滨 150001
Author(s):
YU Lingtao YU Xiaoyan TANG Zexu WANG Lan
College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China
关键词:
手术机器人拉线传感器位置检测自标定参数标定绝对误差距离精度
分类号:
TP242.3
DOI:
10.11990/jheu.201904065
文献标志码:
A
摘要:
为了提高手术机器人的定位精度,本文提出一种基于三维位置检测装置的运动学参数标定方法。设计一种基于拉线传感器的位置检测装置,并采用空间解析几何法建立装置数学模型;通过搭建精度测量实验平台,辨识装置结构参数误差;根据手术机器人的运动学模型,建立绝对误差模型和距离误差模型,并选择距离误差模型求解运动学参数误差。设计了3自由度微创腹腔手术机器人的运动学参数标定实验,对于20组不同的运动距离,标定前的平均相对误差为5.157 9%,标定后降低至1.419 6%,手术机器人的定位精度提高了72%,实验结果验证了该方法及检测装置的有效性。

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期:2019-04-19。
基金项目:国家自然科学基金项目(61773007);黑龙江省自然科学基金项目(LH2019F016).
作者简介:于凌涛,男,副教授,博士生导师;于晓砚,男,博士研究生.
通讯作者:于晓砚,E-mail:yuxiaoyan@hrbeu.edu.cn.
更新日期/Last Update: 2020-08-15