Optimization design for the kinematics parameters of surgical robots

With the purpose of improving the accuracy of surgical robot to meet the need of its industrialization development, this paper suggested an approach which can simply and quickly compensate for robot kinematics parameter error, established an error equation of robot kinematics parameter based on optimization theory. It realized the optimization design for robot kinematics parameter, which has effectively promoted the pose accuracy of the robot. This article also analyzed the optimization characteristics by means of simulation and experimental verification.