Non-orthogonal Tool/Flange and Robot/World Calibration for Realistic Tracking Scenarios

Type of publication:  Artikel
Zeitschrift: International Journal of Medical Robotics and Computer Assisted Surgery
Band: 8
Nummer: 4
Jahr: 2012
Monat: Dezember
Seiten: 407--420
Notiz: Transcranial Magnetic Stimulation, Motion Compensation in Radiosurgery
DOI: 10.1002/rcs.1427
Abriss: This work presents a novel method for simultaneous tool/flange and robot/world calibration by estimating a solution to the common matrix equation AX=YB. This solution is computed using a least-squares approach. Since real robots and localisation are all afflicted by certain errors, our approach allows for non-orthogonal matrices, partially compensating for imperfect calibration of the robot or localisation device. Additionally, we also introduce a new method where full robot/world and partial tool/flange calibration is possible using localisation devices providing less than six degrees of freedom. The methods are evaluated on simulation data and on real-world measurements collected using optical and magnetical tracking devices (NDI's Polaris Spectra and Aurora systems), volumetric ultrasound (a modified GE Vivid7 Dimension station, providing 3-DOF data), and a surface laser scanning device (LAP GALAXY). We compare our methods to two classical approaches: the method by Tsai/Lenz and the Dual Quaternion method by Daniilidis. In all experiments, the new algorithms strongly outperform the classical methods in terms of translational accuracy (by as much as 80%) and perform similarly in terms of rotational accuracy. Additionally, the methods are shown to be stable: the number of calibration stations used has far less influence on calibration quality than for the classical methods.
Nutzerfelder: file={ermm_12.pdf:ermm_12.pdf:PDF}
Autoren: Ernst, Floris
Richter, Lars
Matthäus, Lars
Martens, Volker
Bruder, Ralf
Schlaefer, Alexander
Schweikard, Achim
  • ermm_12.pdf