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.
Tool Compensation for a Medical Cobot-Assistant
Mechan. Machine Science
2022-03-19
17 pages
Article/Chapter (Book)
Electronic Resource
English
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