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Medical robot DH parameter calibrating method

A medical robot and parameter calibration technology, applied in the field of robotics, can solve the problems of complex operation, limited absolute positioning accuracy, and high price.

Active Publication Date: 2016-05-11
BEIJING BAIHUI WEIKANG SCI & TECH CO LTD
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  • Abstract
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  • Application Information

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Problems solved by technology

On the one hand, this type of equipment is expensive and complicated to operate; on the other hand, these methods are mainly aimed at industrial robots, aiming to improve the robot’s repeated positioning accuracy, which can only establish an error equation through the position information of the target point, and cannot use attitude information , which has limitations and limited absolute positioning accuracy

Method used

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  • Medical robot DH parameter calibrating method

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Embodiment Construction

[0040] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0041] figure 1 It is a flow chart of a method for calibrating DH parameters of a medical robot provided by an embodiment of the present invention. Such as figure 1 As shown, it mainly includes the following steps:

[0042] Step 11, establishing the kinematics model of the medical robot and the imaging model of the camera.

[0043] 1. Kinematics model of medical robot.

[0044] In the embodiment of the present invention, the kinematics model of...

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Abstract

The invention discloses a medical robot DH parameter calibrating method, comprising: establishing the kinetic model of a medical robot and the imaging model of a camera; establishing an error equation according to the system position information and attitude information determined based on the kinetic model of a medical robot and the imaging model of a camera; and determining the objective function of an optimization problem according to the error equation, and solving the objective function to calibrate medical robot DH parameters. The method has the characteristics of simple operation and lower cost, and can effectively improve absolute positioning precision.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a method for calibrating DH parameters of a medical robot. Background technique [0002] Robot calibration technology is one of the important technologies in the field of robotics, which is used to correct errors caused by robot processing and assembly. [0003] Existing robot calibration techniques are mainly based on equipment such as laser trackers and three-dimensional coordinate measuring instruments. On the one hand, this type of equipment is expensive and complicated to operate; on the other hand, these methods are mainly aimed at industrial robots, aiming to improve the repetitive positioning accuracy of the robot, which can only establish the error equation through the position information of the target point, and cannot use the attitude information , so it has limitations and has limited absolute positioning accuracy. Contents of the invention [0004] The purpose of...

Claims

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Application Information

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IPC IPC(8): G06T7/00G06T7/20
Inventor 刘达王荣军赵英含
Owner BEIJING BAIHUI WEIKANG SCI & TECH CO LTD
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