Optimization design for the kinematics parameters of surgical robots

Liu Da; Zhenyun Shi; Meikui Zhang

doi:10.1109/ICCME.2011.5876768

Optimization design for the kinematics parameters of surgical robots

Liu Da^*
, Zhenyun Shi
, Meikui Zhang

^*Corresponding author for this work

School of Mechanical Engineering and Automation

Beihang University
PLA General Hospital

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

With the purpose of improving the accuracy of surgical robot to meet the need of its industrialization development, this paper suggested an approach which can simply and quickly compensate for robot kinematics parameter error, established an error equation of robot kinematics parameter based on optimization theory. It realized the optimization design for robot kinematics parameter, which has effectively promoted the pose accuracy of the robot. This article also analyzed the optimization characteristics by means of simulation and experimental verification.

Original language	English
Title of host publication	2011 IEEE/ICME International Conference on Complex Medical Engineering, CME 2011
Pages	375-381
Number of pages	7
DOIs	https://doi.org/10.1109/ICCME.2011.5876768
State	Published - 2011
Event	2011 5th IEEE/ICME International Conference on Complex Medical Engineering, CME 2011 - Harbin, China Duration: 22 May 2011 → 25 May 2011

Publication series

Name	2011 IEEE/ICME International Conference on Complex Medical Engineering, CME 2011

Conference

Conference	2011 5th IEEE/ICME International Conference on Complex Medical Engineering, CME 2011
Country/Territory	China
City	Harbin
Period	22/05/11 → 25/05/11

Keywords

optimization design
parameter error
pose accuracy
surgical robot

Access to Document

10.1109/ICCME.2011.5876768

Cite this

@inproceedings{fae342622a2741ba8948e807d4fc3568,

title = "Optimization design for the kinematics parameters of surgical robots",

abstract = "With the purpose of improving the accuracy of surgical robot to meet the need of its industrialization development, this paper suggested an approach which can simply and quickly compensate for robot kinematics parameter error, established an error equation of robot kinematics parameter based on optimization theory. It realized the optimization design for robot kinematics parameter, which has effectively promoted the pose accuracy of the robot. This article also analyzed the optimization characteristics by means of simulation and experimental verification.",

keywords = "optimization design, parameter error, pose accuracy, surgical robot",

author = "Liu Da and Zhenyun Shi and Meikui Zhang",

year = "2011",

doi = "10.1109/ICCME.2011.5876768",

language = "英语",

isbn = "9781424493241",

series = "2011 IEEE/ICME International Conference on Complex Medical Engineering, CME 2011",

pages = "375--381",

booktitle = "2011 IEEE/ICME International Conference on Complex Medical Engineering, CME 2011",

note = "2011 5th IEEE/ICME International Conference on Complex Medical Engineering, CME 2011 ; Conference date: 22-05-2011 Through 25-05-2011",

}

Da, L, Shi, Z & Zhang, M 2011, Optimization design for the kinematics parameters of surgical robots. in 2011 IEEE/ICME International Conference on Complex Medical Engineering, CME 2011., 5876768, 2011 IEEE/ICME International Conference on Complex Medical Engineering, CME 2011, pp. 375-381, 2011 5th IEEE/ICME International Conference on Complex Medical Engineering, CME 2011, Harbin, China, 22/05/11. https://doi.org/10.1109/ICCME.2011.5876768

Optimization design for the kinematics parameters of surgical robots. / Da, Liu; Shi, Zhenyun; Zhang, Meikui.
2011 IEEE/ICME International Conference on Complex Medical Engineering, CME 2011. 2011. p. 375-381 5876768 (2011 IEEE/ICME International Conference on Complex Medical Engineering, CME 2011).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

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AU - Da, Liu

AU - Shi, Zhenyun

AU - Zhang, Meikui

PY - 2011

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N2 - With the purpose of improving the accuracy of surgical robot to meet the need of its industrialization development, this paper suggested an approach which can simply and quickly compensate for robot kinematics parameter error, established an error equation of robot kinematics parameter based on optimization theory. It realized the optimization design for robot kinematics parameter, which has effectively promoted the pose accuracy of the robot. This article also analyzed the optimization characteristics by means of simulation and experimental verification.

AB - With the purpose of improving the accuracy of surgical robot to meet the need of its industrialization development, this paper suggested an approach which can simply and quickly compensate for robot kinematics parameter error, established an error equation of robot kinematics parameter based on optimization theory. It realized the optimization design for robot kinematics parameter, which has effectively promoted the pose accuracy of the robot. This article also analyzed the optimization characteristics by means of simulation and experimental verification.

KW - optimization design

KW - parameter error

KW - pose accuracy

KW - surgical robot

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DO - 10.1109/ICCME.2011.5876768

M3 - 会议稿件

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SN - 9781424493241

T3 - 2011 IEEE/ICME International Conference on Complex Medical Engineering, CME 2011

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BT - 2011 IEEE/ICME International Conference on Complex Medical Engineering, CME 2011

T2 - 2011 5th IEEE/ICME International Conference on Complex Medical Engineering, CME 2011

Y2 - 22 May 2011 through 25 May 2011

ER -

Optimization design for the kinematics parameters of surgical robots

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Keywords

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