Optimal Design for Kinematics Parameter of Medical Robot

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.