Industrial robot manipulators require high absolute position accuracy of the end effector to perform precise and complex tasks. However, manufacturing errors cause differences between nominal and actual parameters, and errors between the expected and actual positions of the end effector, resulting in undesired lower absolute position accuracy. Accordingly, to increase the absolute position accuracy of the end effector, kinematic calibration is required to correct the nominal parameters close to the actual parameters. However, in this study, redundancy of parameters may occur from the overlapping degrees of freedom of parameters in adjacent frames, which causes the problem of unnecessarily correcting many parameters in the optimization process. Thus, to solve this problem and use only the necessary parameters, this paper focuses on the linear relationship of redundant parameters and proposes a method of automatically discriminating and removing it through the Pearson Correlation Analysis. Additionally, through simulations on the two manipulator models, we verify the accuracy of redundancy of parameters determined by the proposed method, and demonstrate consistency and efficiency by comparing the results before and after redundancy removal.

Acetabular dysplasia is a condition defined by inadequate development of an individual’s acetabulum. Individual diversity of the symptoms in this disease needs safe and accurate preoperative planning. Technologies that utilize multidimensional image information are thus important. The assessment method by Janzen et al. was suggested a coefficient method in evaluation of acetabular dysplasia. In this study, we applied it, using a three-dimensional computed tomography (3D CT) on the koreans. 19 cases of the normal hips and 4 cases of the acetabular dysplasia were investigated to evaluate the proved method; 3D CT was used to define the geometric center of the femoral head and to measure center edge angles at 10˚ rotational increments around the acetabular rim. Mean and standard deviation in CEAs (Center Edge Angle) of normal 19 hips at 10˚ rotational increments from anterior to posterior rim were determined, and termed as a ‘normal curve’. Then this normal values were compared with the CEA data measured from 4 cases of acetabular dysplasia patiens. Quantative comparison of the CEA values between the normal cases and dysplasia cases was successfully demonstrated, and thus, we claim that this simple CT method of assessing acetabular dysplasia can be well applicable to diagnosis, quantification and surgical planning for adult acetabular dysplasia patients.