Online Compensation Method of Robot End-effector Pose Error Based on Optical Tracking System
In order to improve the pose accuracy of surgical robot,an online compensation method of robot end-effec-tor pose error based on improved L-M iteration method is proposed.The robot kinematic model parameters doesn't need to be calibrated.The geometric error and non-geometric error of the robot and the coordinate system registration error are at-tributed to the robot joint error.An optical tracking system is used to measure the robot end-effector pose.The end-effector pose error is mapped to the joint space through the Jacobi matrix and the joint positions are changed through multiple itera-tions,making the robot end-effector pose gradually approaches the target pose.The experimental results show that the meth-od can reduce the positioning error of the robot end-effector less than 0.1mm and the orientation error less than 0.05°,which significantly improves the end-effector pose accuracy of the robot.
万方数据
维普
