Kinematic calibration of a lightweight manipulator for medical applications
Artykuł w czasopiśmie
MNiSW
100
Lista 2024
| Status: | |
| Autorzy: | Arent Krzysztof, Kurnicki Adam, Portasiak Piotr, Stańczyk Bartłomiej |
| Dyscypliny: | |
| Aby zobaczyć szczegóły należy się zalogować. | |
| Rok wydania: | 2024 |
| Wersja dokumentu: | Drukowana | Elektroniczna |
| Język: | angielski |
| Numer czasopisma: | 6 |
| Wolumen/Tom: | 27 |
| Strony: | 1 - 13 |
| Impact Factor: | 1,2 |
| Scopus® Cytowania: | 0 |
| Bazy: | Scopus |
| Efekt badań statutowych | NIE |
| Materiał konferencyjny: | NIE |
| Publikacja OA: | TAK |
| Licencja: | |
| Sposób udostępnienia: | Witryna wydawcy |
| Wersja tekstu: | Ostateczna wersja opublikowana |
| Czas opublikowania: | W momencie opublikowania |
| Data opublikowania w OA: | 19 września 2024 |
| Abstrakty: | angielski |
| The paper presents a kinematics calibration procedure for a lightweight manipulator designed for medical applications. They comprise improving the dexterity of a dysfunctional arm of a handicapped patient in an electric wheelchair as well as supporting biopsies and surgeries. Consequently, there are several manipulator distinguishing features of the manipulator design that are relevant to kinematics calibration. In particular, these are: a small area in the workspace within which the end-effector operates, affordability for non-commercial users, a delicate, dexterous design. In this context we propose a specialized procedure that features a low cost calibration tool enabling the end-effector to reach the correct positions for data acquisition. The key parameters of the calibration tool were obtained by applying two techniques of numerical analysis, workspace clustering and arbitrary choice, and subsequent experimental verification. The procedure exploits classical results concerning the kinematics calibration and is empirically verified by comprehensive simulation and experimental studies. |
