CN109304713B - Calibration method and device of tool coordinate system and computer readable storage medium - Google Patents
Calibration method and device of tool coordinate system and computer readable storage medium Download PDFInfo
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- CN109304713B CN109304713B CN201811379246.9A CN201811379246A CN109304713B CN 109304713 B CN109304713 B CN 109304713B CN 201811379246 A CN201811379246 A CN 201811379246A CN 109304713 B CN109304713 B CN 109304713B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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Abstract
The application relates to a method and a device for calibrating a tool coordinate system and a computer-readable storage medium, wherein the method comprises the following steps: adjusting a preset joint of the target robot to a preset position; collecting characteristic points of a tail end tool connected with the preset joint; recording the motion trail of the characteristic points of the end tool; and determining the pose relation of the coordinate system of the end tool relative to the coordinate system of the preset joint by using the preset position relation between the motion track of the characteristic point of the end tool and the coordinate system of the preset joint. According to the technical scheme of the embodiment of the application, the posture of the target robot does not need to be changed for many times, a complex calculation formula is not needed, the calibration process of a tool coordinate system and the calculation process of a calibration algorithm are simplified, the requirement of calibration on calculation force is reduced, the calibration efficiency is improved, the introduction of related errors is reduced, and the calibration precision is improved.
Description
Technical Field
The present disclosure relates to the field of machinery, and in particular, to a method and an apparatus for calibrating a tool coordinate system, and a computer-readable storage medium.
Background
The existing Tool Coordinate System (TCS) calibration methods are various, including self-calibration methods and auxiliary calibration methods using other precision instruments, but these calibration methods are not only expensive, but also time-consuming and labor-consuming in the calibration process, for example, a common six-Point self-calibration algorithm, and before calibration, besides the need to change different postures of the robot to teach a specified number of teaching points, a complicated formula is also needed to calculate the TCP (Tool Center Point) pose of the Tool Coordinate System, which not only has a requirement on the precision of the robot body transmission mechanism, but also has a requirement on the control algorithm of the robot, and these factors have a great influence on the precision of the final calibration of the robot, so that it is necessary to provide a calibration method which can reduce the influence of related factors as much as possible in the calibration process and reduce the accumulation of calibration errors.
Disclosure of Invention
In order to solve the technical problem or at least partially solve the technical problem, the present application provides a calibration method and apparatus for a tool coordinate system, and a computer-readable storage medium.
In a first aspect, the present application provides a method for calibrating a tool coordinate system, which is applied to an industrial robot, and includes:
adjusting a preset joint of the target robot to a preset position;
collecting characteristic points of a tail end tool connected with the preset joint;
recording the motion trail of the characteristic points of the end tool;
and determining the pose relation of the coordinate system of the end tool relative to the coordinate system of the preset joint by using the preset position relation between the motion track of the characteristic point of the end tool and the coordinate system of the preset joint.
With reference to the first aspect, in a first possible implementation manner of the first aspect, the recording a motion trajectory of the feature point of the end tool includes:
establishing a base point coordinate system of the target robot, a coordinate system of the preset joint and a coordinate system of the tail end tool;
and controlling the end tool to do rotary motion along a preset coordinate axis of a coordinate system of the preset joint.
With reference to the first aspect, in a second possible implementation manner of the first aspect, the establishing a base coordinate system of the target robot, a coordinate system of the preset joint, and a coordinate system of the end tool includes:
and controlling the coordinate system of the preset joint to rotate according to a preset rotation matrix so as to determine the coordinate system of the end tool.
With reference to the first aspect, in a third possible implementation manner of the first aspect, the determining, by using a preset position relationship between a motion trajectory of a feature point of the end tool and a coordinate system of the preset joint, a pose relationship of the coordinate system of the end tool with respect to the coordinate system of the preset joint includes:
measuring the distance from the characteristic point of the end tool to the central point of a preset coordinate axis of the preset joint;
determining an offset relationship between the feature points of the end tool relative to a coordinate system of the preset positional relationship by using a preset positional relationship between the feature points of the end tool and the coordinate system of the preset joint;
calculating the offset distances from the characteristic points of the end tool to three coordinate axes of a coordinate system of the preset joint respectively according to the motion track of the characteristic points of the end tool and the offset relation;
determining an offset matrix of the feature points of the end tool relative to a coordinate system of the preset joint by using the offset distance;
and determining the pose relation of the coordinate system of the end tool relative to the coordinate system of the preset joint through the offset matrix and the preset rotation matrix.
With reference to the first aspect, in a fourth possible implementation manner of the first aspect, the measuring a distance between the feature point of the end tool and a center point of a preset coordinate axis of the preset joint includes:
determining the distance between a first preset end point and a second preset end point of the motion track as first measurement data;
determining the distance from the plane of the motion track to the central point of the preset coordinate axis as second measurement data;
and calculating the distance from the characteristic point of the end tool to the central point of a preset coordinate axis of the preset joint by using the first measurement data and the second measurement data.
In a second aspect, the present application provides a calibration apparatus for a tool coordinate system, applied to an industrial robot, the apparatus comprising:
a position adjusting unit configured to adjust a preset joint of the target robot to a preset position;
the acquisition unit is configured for acquiring characteristic points of a tail end tool connected with the preset joint;
the recording unit is configured to record the motion trail of the characteristic point of the end tool;
and the pose relation determining unit is configured to determine the pose relation of the coordinate system of the end tool relative to the coordinate system of the preset joint by using the preset position relation between the motion track of the characteristic point of the end tool and the coordinate system of the preset joint.
With reference to the second aspect, in a first possible implementation manner of the second aspect, the recording unit includes:
a coordinate system establishing subunit configured to establish a base point coordinate system of the target robot, a coordinate system of the preset joint, and a coordinate system of the end tool;
a first motion control subunit configured to control the end tool to perform a rotational motion along a predetermined coordinate axis of the coordinate system of the predetermined joint.
With reference to the second aspect, in a second possible implementation manner of the second aspect, the coordinate system establishing subunit includes:
a second motion control subunit configured to control the coordinate system of the preset joint to rotate according to a preset rotation matrix to determine the coordinate system of the end tool.
With reference to the second aspect, in a third possible implementation manner of the second aspect, the pose relationship determination unit includes:
the distance measuring subunit is configured to measure the distance from the characteristic point of the end tool to the central point of a preset coordinate axis of the preset joint;
an offset relationship determination subunit configured to determine an offset relationship between the feature point of the end tool with respect to a coordinate system of the preset positional relationship, using a preset positional relationship between the feature point of the end tool and the coordinate system of the preset joint;
the offset distance calculation subunit is configured to calculate offset distances from the feature points of the end tool to three coordinate axes of the coordinate system of the preset joint according to the motion trajectory of the feature points of the end tool and the offset relationship;
an offset matrix determination subunit configured to determine an offset matrix of feature points of the end tool with respect to a coordinate system of the preset joint using the offset distance;
a pose relation determination subunit configured to determine, from the offset matrix and a preset rotation matrix, a pose relation of the coordinate system of the end tool with respect to the coordinate system of the preset joint.
In a third aspect, the present application provides a computer-readable storage medium having stored thereon a calibration program of a tool coordinate system, which when executed by a processor implements the steps of the calibration method of the tool coordinate system according to the first aspect.
Compared with the prior art, the technical scheme provided by the embodiment of the application has the following advantages:
the method provided by the embodiment of the application acquires the characteristic points of the terminal tool connected with the preset joint by adjusting the preset joint of the target robot to the preset position, records the motion trail of the characteristic points of the terminal tool, converts the contour of the terminal tool with the irregular shape at the tail end of the target robot into a geometric figure convenient for measurement, and determines the position relationship of the coordinate system of the terminal tool relative to the coordinate system of the preset joint by utilizing the motion trail of the characteristic points of the terminal tool and the preset position relationship between the coordinate systems of the preset joint, namely calculates the TCP of the terminal tool relative to the target robot through a geometric algorithm.
According to the embodiment of the application, the posture of the target robot does not need to be changed for many times, a complex calculation formula is not needed, the calibration process of a tool coordinate system and the calculation process of a calibration algorithm are simplified, the requirement of calibration on calculation force is reduced, the calibration efficiency is improved, the introduction of related errors is reduced, and the calibration precision is improved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.
Fig. 1 is a flowchart of a method for calibrating a tool coordinate system according to an embodiment of the present disclosure;
fig. 2 is a flowchart of a method for calibrating a tool coordinate system according to another embodiment of the present disclosure;
fig. 3 is a flowchart of a method for calibrating a tool coordinate system according to another embodiment of the present application;
fig. 4 is a flowchart of a method for calibrating a tool coordinate system according to another embodiment of the present application;
fig. 5 is a schematic view of a placement relationship between a high-frequency acquisition camera and a target robot provided in the embodiment of the present application;
fig. 6 is a schematic diagram of a base point coordinate system { B } of the target robot, a coordinate system { E } of a preset joint of the target robot, and a coordinate system { T } of the end tool according to an embodiment of the present disclosure;
fig. 7 is a schematic diagram illustrating a relationship between a motion trajectory of a TCP point of the end tool and a coordinate system { E } of a preset joint of the target robot according to the embodiment of the present application;
fig. 8 is a schematic structural diagram of a calibration apparatus of a tool coordinate system according to an embodiment of the present disclosure.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Fig. 1 is a calibration method of a tool coordinate system provided in an embodiment of the present application, applied to an industrial robot, and the calibration method includes the following steps:
s101, adjusting a preset joint of the target robot to a preset position.
And S102, collecting characteristic points of the end tool connected with the preset joint.
And S103, recording the motion trail of the characteristic points of the end tool.
And S104, determining the pose relation of the coordinate system of the end tool relative to the coordinate system of the preset joint by using the preset position relation between the motion track of the characteristic point of the end tool and the coordinate system of the preset joint.
In another embodiment of the present application, as shown in fig. 2, the step S103 of recording the motion trajectory of the feature point of the end tool includes the following steps:
and S1031, establishing a base point coordinate system, a preset joint coordinate system and a terminal tool coordinate system of the target robot.
And S1032, controlling the end tool to rotate along a preset coordinate axis of a coordinate system of the preset joint.
In another embodiment of the present application, the step S1031 of establishing a base coordinate system of the target robot, a coordinate system of the preset joint and a coordinate system of the end tool includes: and controlling the coordinate system of the preset joint to rotate according to the preset rotation matrix so as to determine the coordinate system of the end tool.
In another embodiment of the present application, as shown in fig. 3, the step S104 of determining the pose relationship of the coordinate system of the end tool relative to the coordinate system of the preset joint by using the preset position relationship between the motion trajectory of the feature point of the end tool and the coordinate system of the preset joint includes the following steps:
s1041, measuring the distance from the characteristic point of the end tool to the central point of a preset coordinate axis of a preset joint.
S1042, determining the offset relation between the characteristic points of the end tool and the coordinate system of the preset position relation by using the preset position relation between the characteristic points of the end tool and the coordinate system of the preset joint.
And S1043, calculating the offset distances from the characteristic points of the end tool to three coordinate axes of a coordinate system of the preset joint respectively according to the motion track and the offset relation of the characteristic points of the end tool.
And S1044, determining an offset matrix of the characteristic points of the end tool relative to the coordinate system of the preset joint by using the offset distance.
And S1045, determining the pose relation of the coordinate system of the end tool relative to the coordinate system of the preset joint through the offset matrix and the preset rotation matrix.
In another embodiment of the present application, as shown in fig. 4, the step S1041 of measuring the distance from the feature point of the end tool to the center point of the preset coordinate axis of the preset joint includes the following steps:
s10411, determining a distance between a first preset end point and a second preset end point of the motion trail as first measurement data.
And S10412, determining the distance from the plane of the motion track to the center point of the preset coordinate axis as second measurement data.
And S10413, calculating the distance from the characteristic point of the end tool to the central point of the preset coordinate axis of the preset joint by using the first measurement data and the second measurement data.
As shown in fig. 5, for the placement relationship between the high-frequency acquisition camera and the target robot, the posture of the target robot is adjusted, preferably, a six-axis robot is adopted, so that the ZE axis of the sixth joint of the target robot is parallel to the ground; the position of the high-frequency acquisition camera is adjusted, so that the high-frequency acquisition camera is opposite to the tail end tool of the target robot, and the welding gun is preferably adopted as the tail end tool in the embodiment of the application.
As shown in fig. 6, a base point coordinate system { B } of the target robot, a coordinate system { E } of a preset joint of the target robot, and a coordinate system { T } of the end tool are established. For ease of calculation, the coordinate system { T } of the end tool is established to be consistent with the coordinate system { E } of the pre-set joint of the target robot, i.e., the rotation matrix from the coordinate system { E } of the pre-set joint of the target robot to the coordinate system { T } of the end tool is:
The distance L between the two end points TCP and TCP' having the longest motion trajectory can be measured by the positional relationship in fig. 7. Since the plane of motion is perpendicular to the rotation line zE, the distance from the plane of motion to the end tool of the target robot, i.e., OO' ═ d, can be measured, and the distance from the end point of the end tool to the rotation axis z of the preset joint can be known to be L/2 in combination with the geometrical relationship. The space geometric relation can obtain the O-xyz offset relation of the TCP point of the end tool relative to the coordinate system of the preset joint, the distance of the end point offset zE axis is L/2 and the offset xE axis is d according to the measured data, and the distance of the offset yE axis is 0 by considering that the symmetrical section of the end tool is superposed with the Oxz plane of the coordinate system of the preset joint. The offset matrix of the TCP of { T } relative to the coordinate system { E } of the preset joint of the target robot, which can be obtained from the measured data, is:
in conclusion, the position and orientation relation of the coordinate system { T } of the end tool relative to the coordinate system { E } of the preset joint of the target robot can be obtained, the interference of the position and orientation change of the target robot on the calibration of the coordinate system of the tool is greatly reduced in the calibration process, and the complex formula of a common calibration algorithm is simplified.
As shown in fig. 8, an embodiment of the present application provides a calibration apparatus for a tool coordinate system, which is applied to an industrial robot, and the apparatus includes:
a position adjusting unit 11 configured to adjust a preset joint of the target robot to a preset position;
the acquisition unit 12 is configured to acquire feature points of a terminal tool connected with a preset joint;
a recording unit 13 configured to record a movement locus of a feature point of the end tool;
the pose relation determination unit 14 is configured to determine the pose relation of the coordinate system of the end tool with respect to the coordinate system of the preset joint using a preset positional relation between the motion trajectory of the feature point of the end tool and the coordinate system of the preset joint.
In another embodiment of the present application, the recording unit 13 includes:
a coordinate system establishing subunit configured to establish a base point coordinate system of the target robot, a coordinate system of the preset joint, and a coordinate system of the end tool;
a first motion control subunit configured to control the end tool to perform a rotational motion along a predetermined coordinate axis of a coordinate system of a predetermined joint.
In another embodiment of the present application, the coordinate system establishing subunit includes:
a second motion control subunit configured to control the coordinate system of the preset joint to rotate according to a preset rotation matrix to determine the coordinate system of the end tool.
In another embodiment of the present application, the pose relationship determination unit includes:
the distance measuring subunit is configured to measure the distance from the characteristic point of the end tool to the central point of a preset coordinate axis of a preset joint;
an offset relationship determination subunit configured to determine an offset relationship between the feature point of the end tool with respect to a coordinate system of a preset positional relationship, using the preset positional relationship between the feature point of the end tool and the coordinate system of the preset joint;
the offset distance calculation subunit is configured to calculate offset distances from the feature points of the end tool to three coordinate axes of a coordinate system of a preset joint according to the motion track and the offset relation of the feature points of the end tool;
an offset matrix determination subunit configured to determine an offset matrix of the feature point of the end tool with respect to a coordinate system of a preset joint using the offset distance;
and the pose relation determining subunit is configured to determine the pose relation of the coordinate system of the end tool relative to the coordinate system of the preset joint through the offset matrix and the preset rotation matrix.
The embodiment of the present application provides a computer-readable storage medium, on which a calibration program of a tool coordinate system is stored, and when being executed by a processor, the calibration program of the tool coordinate system implements the steps of the calibration method of the tool coordinate system shown in fig. 1.
It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The foregoing are merely exemplary embodiments of the present invention, which enable those skilled in the art to understand or practice the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (8)
1. Calibration method of a tool coordinate system, applied to an industrial robot, comprising:
adjusting a preset joint of the target robot to a preset position;
collecting characteristic points of a tail end tool connected with the preset joint;
establishing a base point coordinate system of the target robot, a coordinate system of the preset joint and a coordinate system of the tail end tool;
controlling the end tool to do rotary motion along a preset coordinate axis of a coordinate system of the preset joint;
and determining the pose relation of the coordinate system of the end tool relative to the coordinate system of the preset joint by using the preset position relation between the motion track of the characteristic point of the end tool and the coordinate system of the preset joint.
2. The method for calibrating a tool coordinate system according to claim 1, wherein the establishing a base coordinate system of the target robot, a coordinate system of the preset joint, and a coordinate system of the end tool comprises:
and controlling the coordinate system of the preset joint to rotate according to a preset rotation matrix so as to determine the coordinate system of the end tool.
3. The method for calibrating the tool coordinate system according to claim 2, wherein the determining the pose relationship of the coordinate system of the end tool relative to the coordinate system of the preset joint by using the preset position relationship between the motion trajectory of the feature point of the end tool and the coordinate system of the preset joint comprises:
measuring the distance from the characteristic point of the end tool to the central point of a preset coordinate axis of the preset joint;
determining an offset relationship between the feature points of the end tool relative to a coordinate system of the preset positional relationship by using a preset positional relationship between the feature points of the end tool and the coordinate system of the preset joint;
calculating the offset distances from the characteristic points of the end tool to three coordinate axes of a coordinate system of the preset joint respectively according to the motion track of the characteristic points of the end tool and the offset relation;
determining an offset matrix of the feature points of the end tool relative to a coordinate system of the preset joint by using the offset distance;
and determining the pose relation of the coordinate system of the end tool relative to the coordinate system of the preset joint through the offset matrix and the preset rotation matrix.
4. The method for calibrating the tool coordinate system according to claim 3, wherein the measuring the distance from the feature point of the end tool to the center point of the preset coordinate axis of the preset joint comprises:
determining the distance between a first preset end point and a second preset end point of the motion track as first measurement data;
determining the distance from the plane of the motion track to the central point of the preset coordinate axis as second measurement data;
and calculating the distance from the characteristic point of the end tool to the central point of a preset coordinate axis of the preset joint by using the first measurement data and the second measurement data.
5. Calibration device for a tool coordinate system, for use in an industrial robot, said device comprising:
a position adjusting unit configured to adjust a preset joint of the target robot to a preset position;
the acquisition unit is configured for acquiring characteristic points of a tail end tool connected with the preset joint;
a recording unit configured to record a motion trajectory of a feature point of the tip tool, the recording unit including: a coordinate system establishing subunit configured to establish a base point coordinate system of the target robot, a coordinate system of the preset joint, and a coordinate system of the end tool, and a first motion control subunit configured to control the end tool to make a rotational motion along a preset coordinate axis of the coordinate system of the preset joint;
and the pose relation determining unit is configured to determine the pose relation of the coordinate system of the end tool relative to the coordinate system of the preset joint by using the preset position relation between the motion track of the characteristic point of the end tool and the coordinate system of the preset joint.
6. Calibration arrangement of a tool coordinate system according to claim 5, characterized in that the coordinate system establishing subunit comprises:
a second motion control subunit configured to control the coordinate system of the preset joint to rotate according to a preset rotation matrix to determine the coordinate system of the end tool.
7. The calibration apparatus for a tool coordinate system according to claim 6, wherein the pose relationship determination unit includes:
the distance measuring subunit is configured to measure the distance from the characteristic point of the end tool to the central point of a preset coordinate axis of the preset joint;
an offset relationship determination subunit configured to determine an offset relationship between the feature point of the end tool with respect to a coordinate system of the preset positional relationship, using a preset positional relationship between the feature point of the end tool and the coordinate system of the preset joint;
the offset distance calculation subunit is configured to calculate offset distances from the feature points of the end tool to three coordinate axes of the coordinate system of the preset joint according to the motion trajectory of the feature points of the end tool and the offset relationship;
an offset matrix determination subunit configured to determine an offset matrix of feature points of the end tool with respect to a coordinate system of the preset joint using the offset distance;
a pose relation determination subunit configured to determine, from the offset matrix and a preset rotation matrix, a pose relation of the coordinate system of the end tool with respect to the coordinate system of the preset joint.
8. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a calibration program of a tool coordinate system, which when executed by a processor implements the steps of the calibration method of a tool coordinate system as claimed in any one of claims 1 to 4.
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| CN112747675A (en) * | 2020-12-28 | 2021-05-04 | 许海波 | Calibration method capable of correcting offline track of robot based on software |
| CN112847441B (en) * | 2021-01-20 | 2022-02-15 | 广东工业大学 | Six-axis robot coordinate offset detection method and device based on gradient descent method |
| CN114794667B (en) * | 2022-03-31 | 2023-04-14 | 深圳市如本科技有限公司 | Tool calibration method, system, device, electronic equipment and readable storage medium |
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| CN101913076A (en) * | 2010-06-23 | 2010-12-15 | 中国科学院自动化研究所 | Industrial robot-based assembly method and device of piston, piston pin and connecting rod |
| KR20180044241A (en) * | 2018-04-04 | 2018-05-02 | 주식회사 고영테크놀러지 | Surgical robot system for stereotactic surgery and method for controlling a stereotactic surgery robot |
| CN207946851U (en) * | 2018-01-30 | 2018-10-09 | 深圳市圆梦精密技术研究院 | Correct workpiece coordinate system device |
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| CN101913076A (en) * | 2010-06-23 | 2010-12-15 | 中国科学院自动化研究所 | Industrial robot-based assembly method and device of piston, piston pin and connecting rod |
| CN207946851U (en) * | 2018-01-30 | 2018-10-09 | 深圳市圆梦精密技术研究院 | Correct workpiece coordinate system device |
| KR20180044241A (en) * | 2018-04-04 | 2018-05-02 | 주식회사 고영테크놀러지 | Surgical robot system for stereotactic surgery and method for controlling a stereotactic surgery robot |
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