Abstract
A multi-robot collaboration system can complete more complex tasks than a single robot system. Ensuring the calibration accuracy between robots in the system is a prerequisite for the effective inter-robot cooperation. This paper presents a dual-robot system for orthopedic surgeries, where the relationships between hand-eye, flange-tool, and robot-robot need to be calibrated. This calibration problem can be summarized to the solution of the matrix equation of AXB=YCZ. A combined solution is proposed to solve the unknown parameters in the equation of AXB=YCZ, which consists of the dual quaternion closed-form method and the iterative method based on Levenberg–Marquardt (LM) algorithm. The closed-form method is used to quickly obtain the initial value for the iterative method so as to increase the convergence speed and calibration accuracy of the iterative method. Simulation and experimental analyses are carried out to verify the accuracy and effectiveness of the proposed method.
Highlights
A multi-robot collaboration system is frequently used to complete tasks that are very difficult or even impossible for a single robot system
Robot and navigation technologies have been successfully integrated in the robotic orthopedic surgery system, where a robot is utilized to assist or even replace the surgeon during the intraoperative bone cutting with the position feedback from an optical tracking system (OTS)
Theproposed proposedmethod methodcombines combinesthe the closed-form method and the iterative method, where the result of the closed-form method is used as the initial value of the iterative method
Summary
A multi-robot collaboration system is frequently used to complete tasks that are very difficult or even impossible for a single robot system. It has the advantages of high precision, more complex tasks, high reliability, etc. It is difficult for the surgeon to manually move the OTS to the optimal pose for the best measurement accuracy for all the targets. If the OTS is fixed, occlusions are likely to occurs, leading to the cut off of the feedback from the OTS. This is fatal in robotic surgery systems
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