A collaborative robot, i.e. cobot, is proposed by the CoBRA Team of Pprime Institute to serve as a medical cobot-assistant for different applications, as for Doppler sonography, minimally invasive surgery or craniotomy. Since the cobot requires a whole knowledge of its dynamic model to ensure an optimal performance in terms of accuracy, stability and safety during human–robot interaction, the inertial parameters of the medical tools attached to its end-effector have to be known and integrated to the robot controller. However, the inertial parameters of the medical tools are generally unknown and may vary at each use. This chapter presents the method and procedure set up to identify the inertial parameters of the metical tools used by the proposed medical cobot-assistant. The proposed procedure is based on least-squares estimation, comparing the joint torques provided by the cobot to execute the same trajectory for two different conditions: with and without the tool attached to the end-effector. We experimentally validate the procedure on the cobot-assistant platform.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Tool Compensation for a Medical Cobot-Assistant


    Additional title:

    Mechan. Machine Science


    Contributors:


    Publication date :

    2022-03-19


    Size :

    17 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English





    3D Printing with a Cobot Arm

    Trtnik, Ales | BASE | 2022

    Free access

    SPACE COBOT FOR IN-ORBIT REPAIR

    Bernelin, Marie-Christine / Giraudeau, Christophe / Talbot, Christophe et al. | TIBKAT | 2021


    Development of a Franka Emika Cobot Simulator Platform (CSP) Dedicated to Medical Applications

    Trabelsi, Amir / Sandoval, Juan / Ghiss, Moncef et al. | TIBKAT | 2021


    A Framework for Collaborative Robot (CoBot) Integration in Advanced Manufacturing Systems

    Djuric, Ana M. / Rickli, J.L. / Urbanic, R.J. | SAE Technical Papers | 2016