Optimal Design for Kinematics Parameter of Medical Robot
WANG Rong-jun1, LIU Da2, JIA Pei-fa1
1. State Key Laboratory of Intelligent Technology and Systems, Tsinghua University, Beijing 100084, China; 2. Robotics Institute, Beihang University, Beijing 100083, China
王荣军, 刘达, 贾培发. 医用机器人运动学参数最优化设计[J]. 机器人, 2007, 29(4): 368-373..
WANG Rong-jun, LIU Da, JIA Pei-fa. Optimal Design for Kinematics Parameter of Medical Robot. ROBOT, 2007, 29(4): 368-373..
Abstract：This paper presents a practical optimization method to compensate kinematics parameter errors of medical robot.A link frame is set up using D-H notation.On the basis of kinematics analysis and model transformation,an error equation of the robot kinematics parameter is established with numerical optimization,and the optimal design for kinematics parameter is realized,which effectively increases the repositioning precision of the robot.Finally,the optimization results are analyzed with simulation and experimental validation.
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