Error Modelling for Master Slave Surgical Robot System

2011 ◽  
Vol 697-698 ◽  
pp. 795-798
Author(s):  
Jian Ye Zhang ◽  
Chen Zhao ◽  
Da Wei Zhang
Keyword(s):  
Computer Program ◽  
Cross Section ◽  
Robot Manipulator ◽  
Surgical Robot ◽  
Accuracy Analysis ◽  
Robot System ◽  
End Effector ◽  
Surface Graph ◽  
Position And Orientation ◽  
Kinematics Parameters

The Position and orientation accuracy of robot manipulator has long become a major issue to be considered in its advanced application. A linear error model that described the end-effector position and orientation errors of the master salve surgical robot system due to kinematics parameters errors has been presented. A computer program to perform the accuracy analysis has been developed in MATLAB. This methodology and software are applied to the accuracy analysis of a master-slave surgical robot system. The position error in its workspace cross section (XOZ) has been plotted as 3D surface graph and discussed.

Pose Accuracy Analysis of Robot Manipulators Based on Kinematics

2011 ◽  
Vol 201-203 ◽  
pp. 1867-1872 ◽  
Author(s):  
Jian Ye Zhang ◽  
Chen Zhao ◽  
Da Wei Zhang
Keyword(s):  
Matrix Theory ◽  
Robot Manipulators ◽  
Error Model ◽  
Robot Kinematics ◽  
Accuracy Analysis ◽  
Serial Link ◽  
End Effector ◽  
Surface Graph ◽  
Position And Orientation ◽  
Kinematics Parameters

The pose accuracy of robot manipulators has long become a major issue to be considered in its advanced application. An efficient methodology to generate the end-effector position and orientation error model of robotic manipulator has been proposed based on the differential transformation matrix theory. According to this methodology, a linear error model that described the end-effector position and orientation errors due to robot kinematics parameters errors has been presented. A computer program to generate the error model and perform the accuracy analysis on any serial link manipulator has been developed in MATLAB. This methodology and software are applied to the accuracy analysis of a Phantom Desktop manipulator. The positioning error of the manipulator in its workspace cross section (XOZ) has been plotted as 3D surface graph and discussed.

An Approach to Analyze Pose Accuracy of Master Slave Surgical Robot with Matlab

2011 ◽  
Vol 418-420 ◽  
pp. 1709-1716
Author(s):  
Jian Ye Zhang ◽  
Wei Wang ◽  
Chen Zhao ◽  
Heng Zhang
Keyword(s):  
Computer Program ◽  
Surgical Robot ◽  
Accuracy Analysis ◽  
Robot System ◽  
Precision Analysis ◽  
System A ◽  
Position And Orientation ◽  
Sufficient Precision

In the design of master-slave surgical robot proper accuracy must be guaranteed. As the configuration of the master robot is generally different from that of the slave robot, the two robots may not use the same policy of accuracy. In order to match each other with sufficient precision analysis of pose errors must be done in pair. This paper presents an approach that can calculate and analyze the end-effecter position and orientation errors of the master-salve surgical robot system. A computer program to perform the accuracy analysis has been developed in MATLAB.

scholarly journals A New Approach to the Solution of Robot Kinematics Based on Relative Transformation Matrices

2016 ◽  
Vol 5 (3) ◽  
pp. 213
Author(s):  
Mohammad Reza Elhami ◽  
Iman Dashti
Keyword(s):  
Robot Manipulator ◽  
Robot Kinematics ◽  
Coordinate Frame ◽  
End Effector ◽  
New Approach ◽  
Transformation Matrices ◽  
The World ◽  
Convenient Approach ◽  
Position And Orientation ◽  
Relative Transformation

In analyzing robot manipulator kinematics, we need to describe relative movement of adjacent linkages or joints in order to obtain the pose of end effector (both position and orientation) in reference coordinate frame. Denavit-Hartenberg established a method based on a 4×4 homogenous matrix so called “A” matrix. This method used by most of the authors for kinematics and dynamic analysis of the robot manipulators. Although it has many advantages, however, finding the elements of this matrix and link/joint’s parameters is sometimes complicated and confusing. By considering these difficulties, the authors proposed a new approach called ‘convenient approach’ that is developed based on “Relative Transformations Principle”. It provides a very simple and convenient way for the solution of robot kinematics compared to the conventional D-H representation. In order to clarify this point, the kinematics of the world known Stanford manipulator has been solved through D-H representation as well as convenient approach and the results are compared.

scholarly journals ANALISA FORWARD KINEMATIC PADA SIMULATOR ARM ROBOT 5 DOF YANG MENGINTEGRASIKAN MIKROKONTROLER ARDUINO-UNO DAN LABVIEW

ROTASI ◽  
2013 ◽  
Vol 15 (2) ◽  
pp. 37
Author(s):  
Munadi Munadi
Keyword(s):  
Robot Manipulator ◽  
Angular Position ◽  
Servo Motor ◽  
End Effector ◽  
Position Errors ◽  
Position And Orientation ◽  
The Individual ◽  
Forward Kinematic ◽  
The Relationship ◽  
Numerical Program

An arm robot simulator has been developed, that capable in simulating a 5 degree of freedom robot manipulator, in which it was equipped with two-finger gripper mechanism at end-effector. This simulator is designed for educational purposes so that many students can easily understand when learning about robot manipulator. The simulator was developed using Ardiuno Uno with LabVIEW through the Firmata interface for controlling the actuators (servo motors). Ardiuno Uno was chosen because it can interact with LabVIEW that will be able to control the angular position of servo motor easily. Angular position errors that occur on the servo motor can be solved by using a numerical program functions and numerical multiply divided on LabVIEW. For analysis, this paper presents the forward kinematics problem which is concerned with the relationship between the individual joints of the arm robot simulator and the position and orientation of the tool or end-effector. The analysis result is carried out in MATLAB.

Position Error Sensitivity Analysis for Polishing Robot

2012 ◽  
Vol 500 ◽  
pp. 326-330 ◽  
Author(s):  
Xiu Heng Zhang ◽  
Peng Ba ◽  
Li Mu
Keyword(s):  
Sensitivity Analysis ◽  
Performance Evaluation ◽  
Error Analysis ◽  
Computer Program ◽  
Calibration Error ◽  
End Effector ◽  
Error Sensitivity ◽  
Analysis Methodology ◽  
Position And Orientation ◽  
Error Sensitivity Analysis

t is the goal of this paper to describe an error analysis methodology for polishing robot on a manufacturing floor. With the generalized errors considered in the model, the end-effector position and orientation errors are calculated as a function of the generalized error. The analysis is to determine which physical errors significantly influence the end-effector error. The method and computer program have been applied to the performance evaluation of a robotic manipulator to be used in a polishing robot. This methodology can be applied to estimate calibration error and give the severity value to help the designer to select the polishing robot parameters.

scholarly journals Spatial Registration for a Three-Arm Robot Assisted Mandible Reconstruction Surgery

2015 ◽  
Vol 2015 ◽  
pp. 1-10 ◽  
Author(s):  
Yonggui Wang ◽  
Xingguang Duan
Keyword(s):  
Surgical Planning ◽  
Target Position ◽  
Surgical Robot ◽  
Least Square ◽  
Robot System ◽  
Mandible Reconstruction ◽  
End Effector ◽  
Reconstruction Surgery ◽  
Spatial Registration ◽  
Hand Eye Coordination

The three-arm surgical robot system assisted mandible reconstruction surgery (TMR-MRS) is developed to repair the mandible defects caused by congenital defect, trauma, or acquired disease. The surgical robot system is divided into four parts, including 3D reconstructed image subsystem, robotic subsystem, optical measurement subsystem, and patient subsystem. The spatial registration based on quaternion is proposed to obtain the transformation relationship between four surgical subsystems. A method of hand-eye coordination is presented to control the end-effector of the robot arm to target position according to surgical planning. A least square error criterion is developed to optimize and compensate the hand-eye coordination method. In addition, the position of fibular implant in the robot space is calculated when it is grasped by end-effector of robot middle arm. Finally, the positioning accuracy tests and skull model experiments were conducted to evaluate the function of the surgical robot system. The results validate its feasibility and are consistent with the preoperative surgical planning.

Accuracy Analysis of Parallel Manipulators With Joint Clearance

2008 ◽  
Vol 131 (1) ◽  
Author(s):  
Jian Meng ◽  
Dongjun Zhang ◽  
Zexiang Li
Keyword(s):  
Parallel Manipulator ◽  
Optimization Problem ◽  
Parallel Manipulators ◽  
Joint Clearance ◽  
Error Prediction ◽  
Accuracy Analysis ◽  
Analysis Problem ◽  
Convex Optimization Problem ◽  
End Effector ◽  
Position And Orientation

Due to joint clearance, a parallel manipulator’s end-effector exhibits position and orientation (or collectively referred to as pose) errors of various degrees. This paper aims to provide a systematic study of the error analysis problem for a general parallel manipulator influenced by joint clearance. We propose an error prediction model that is applicable to planar or spatial parallel manipulators that are either overconstrained or nonoverconstrained. By formulating the problem as a standard convex optimization problem, the maximal pose error in a prescribed workspace can be efficiently computed. We present several numerical examples to show the applicability and the efficiency of the proposed method.

Shaft Insertion for Moving Object Using Robot Manipulator with Cross PSD and Vibration End-effector

2001 ◽  
Vol 13 (5) ◽  
pp. 450-457 ◽  
Author(s):  
Soichiro Hayakawa ◽  
◽  
Nuio Tsuchida
Keyword(s):  
Error Correction ◽  
High Speed ◽  
Robot Manipulator ◽  
Position Error ◽  
Moving Object ◽  
Position Sensor ◽  
Robot System ◽  
Correct Position ◽  
End Effector ◽  
Vibration Mechanism

We have studied the position sensor with the high speed and precision sensing using a cross PSD. We developed shaft insertion robot for a moving object applying this sensor. For various reasons, position error that can not be avoided between the center of shaft and the center of the sensor occurred. We developed the vibration end-effector to correct this position error. The new end-effector has a vibration mechanism that gives spiral vibration to the shaft, and leads the shaft to a correct position semiactively if shaft insertion fails. This paper shows the improvement of the ability of position error correction by the vibration end-effector for a still object. Using the robot system with this new end-effector, we experimented on shaft insertion for a moving object in various situations. The robot could insert the shaft with a clearance of 50μm at a speed of 80mm/s. The moving velocity of the target doubled compared with our previous system, and the clearance became half.

Deep regression of convolutional neural network applied to resolved acceleration control for a robot manipulator

2021 ◽  
pp. 014233122110027
Author(s):  
Yong-Lin Kuo ◽  
Shih-Chien Tang
Keyword(s):  
Neural Network ◽  
Convolutional Neural Network ◽  
Robot Manipulator ◽  
Parallel Robot ◽  
Real Time Control ◽  
End Effector ◽  
Time Control ◽  
Control Scheme ◽  
Resolved Acceleration Control ◽  
Position And Orientation

This paper presents a modified resolved acceleration control scheme based on deep regression of the convolutional neural network. The resolved acceleration control scheme can achieve precise motion control of robot manipulators by regulating the accelerations of the end-effector, and the conventional scheme needs the position and orientation of the end-effector, which are obtained through the direct kinematics of the robot manipulator. This scheme increases the computational loads and might obtain inaccurate position and orientation due to mechanical errors. To overcome the drawbacks, a camera is used to capture the images of the robot manipulator, and then a deep regression of convolutional neural network is imposed into the resolved acceleration control to obtain the position and orientation of the end-effector. The proposed approach aims to enhance the positioning accuracy, to reduce the computational loads, and to facilitate the deep regression in real-time control. In this study, the proposed approach is applied to a 3-DOF planar parallel robot manipulator, and the results are compared with those by the conventional resolved acceleration control and a visual servo-based control. The results show that those objectives are achieved. Furthermore, the robustness of the proposed approach is tested through only the partial image of the end-effector available, and the proposed approach still works functionally and effectively.

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