Use of a Force-Torque Sensor for Self-Calibration of a 6-DOF Medical Robot

Sensors (Basel). 2016 May 31;16(6):798. doi: 10.3390/s16060798.


The aim of this paper is to improve the position accuracy of a six degree of freedom medical robot. The improvement in accuracy is achieved without the use of any external measurement device. Instead, this work presents a novel calibration approach based on using an embedded force-torque sensor to identify the robot's kinematic parameters and thereby enhance the positioning accuracy. A simulation study demonstrated that our calibration approach is effective, whether or not any measurement noise is present: the position error is improved, inside the robot target workspace, from 12 mm to 0.320 mm, for the maximum values, and from 9 mm to 0.2771 mm, for the mean errors.

Keywords: medical robot; observability; robot accuracy; robot calibration; robot kinematic; robotic metrology.