Jun Changhan, Decker Ryan, Stoianovici Dan
Robotics Laboratory, Urology Department, Johns Hopkins University, Baltimore, Maryland, USA.
Int J Med Robot. 2018 Apr;14(2). doi: 10.1002/rcs.1890. Epub 2018 Jan 10.
In image-guided robotic interventions, an error component is related to the positioning error of the manipulator. Therefore, measuring the kinematic error is required during robot development. However, no specialized measurement device exists for this task. This study explores the possibility of using optical tracking for robot measurement.
A CNC machine is used to position an optical marker, generating a gold standard reference. Repeated position measurements are acquired with an NDI Polaris Hybrid® optical tracker at each static location, and averaged. These measurements are compared to the reference set.
Averaging repeated static position measurements improves precision (200-500 samples). Measurement accuracy ranges between 44 μm and 137 μm in close proximity of the tracker.
Repeated static position measurements in the near field of view enable the optical tracker to outperform its general-purpose accuracy specification. Optical tracking may be used to test robot kinematics with a high degree of accuracy.
在图像引导的机器人干预中，误差分量与操纵器的定位误差有关。因此，在机器人开发过程中需要测量运动学误差。然而，目前尚无专门用于此任务的测量设备。本研究探讨了使用光学跟踪进行机器人测量的可能性。
使用计算机数控机床定位一个光学标记，生成一个金标准参考。在每个静态位置使用NDI Polaris Hybrid®光学跟踪器进行重复位置测量，并求平均值。将这些测量值与参考集进行比较。
对重复的静态位置测量求平均值可提高精度（200 - 500个样本）。在跟踪器附近，测量精度范围在44μm至137μm之间。
在近视野范围内进行重复的静态位置测量可使光学跟踪器的性能优于其通用精度规格。光学跟踪可用于高精度测试机器人运动学。
