Modulated potential field using 5 DoF implant assist robot for position and angle adjustment

Koyo Yu; Kouhei Ohnishi; Hiromasa Kawana; Shin Usuda

doi:10.1109/IECON.2015.7392422

Modulated potential field using 5 DoF implant assist robot for position and angle adjustment

Koyo Yu, Kouhei Ohnishi, Hiromasa Kawana, Shin Usuda

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

7 Citations (Scopus)

Abstract

The basic structure and null space analysis of 5 DoF implant assist robot for position and angle adjustment is conducted in this paper. The problem of position control using the inverse matrix is the singular postures that make the system unstable. In this paper, the modulated potential field is also extended to 5 DoF robot manipulator for both position adjustment and angle adjustment. It is proposed to achieve the three requirement performances for teaching the information of «where to start cutting». That is 1) Physician can Free moving the manipulator when far from the destination. 2) The manipulator will apply adjusting force for easy converge to the destination when close in the destination. 3) The manipulator will apply adjusting force for collision avoidance when over the destination. The validity of the analysis results of modulated potential field for 5 DoF manipulator was confirmed by the simulation and experiment.

Original language	English
Title of host publication	IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	2166-2171
Number of pages	6
ISBN (Electronic)	9781479917624
DOIs	https://doi.org/10.1109/IECON.2015.7392422
Publication status	Published - 2016 Jan 25
Event	41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015 - Yokohama, Japan Duration: 2015 Nov 9 → 2015 Nov 12

Other

Other	41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015
Country/Territory	Japan
City	Yokohama
Period	15/11/9 → 15/11/12

Keywords

Force control
Manipulators
Medical robotics
Medical treatment
Motion control

ASJC Scopus subject areas

Electrical and Electronic Engineering
Industrial and Manufacturing Engineering

Access to Document

10.1109/IECON.2015.7392422

Cite this

Modulated potential field using 5 DoF implant assist robot for position and angle adjustment. / Yu, Koyo; Ohnishi, Kouhei; Kawana, Hiromasa et al.
IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society. Institute of Electrical and Electronics Engineers Inc., 2016. p. 2166-2171 7392422.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Yu, K, Ohnishi, K, Kawana, H & Usuda, S 2016, Modulated potential field using 5 DoF implant assist robot for position and angle adjustment. in IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society., 7392422, Institute of Electrical and Electronics Engineers Inc., pp. 2166-2171, 41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015, Yokohama, Japan, 15/11/9. https://doi.org/10.1109/IECON.2015.7392422

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abstract = "The basic structure and null space analysis of 5 DoF implant assist robot for position and angle adjustment is conducted in this paper. The problem of position control using the inverse matrix is the singular postures that make the system unstable. In this paper, the modulated potential field is also extended to 5 DoF robot manipulator for both position adjustment and angle adjustment. It is proposed to achieve the three requirement performances for teaching the information of «where to start cutting». That is 1) Physician can Free moving the manipulator when far from the destination. 2) The manipulator will apply adjusting force for easy converge to the destination when close in the destination. 3) The manipulator will apply adjusting force for collision avoidance when over the destination. The validity of the analysis results of modulated potential field for 5 DoF manipulator was confirmed by the simulation and experiment.",

keywords = "Force control, Manipulators, Medical robotics, Medical treatment, Motion control",

author = "Koyo Yu and Kouhei Ohnishi and Hiromasa Kawana and Shin Usuda",

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N2 - The basic structure and null space analysis of 5 DoF implant assist robot for position and angle adjustment is conducted in this paper. The problem of position control using the inverse matrix is the singular postures that make the system unstable. In this paper, the modulated potential field is also extended to 5 DoF robot manipulator for both position adjustment and angle adjustment. It is proposed to achieve the three requirement performances for teaching the information of «where to start cutting». That is 1) Physician can Free moving the manipulator when far from the destination. 2) The manipulator will apply adjusting force for easy converge to the destination when close in the destination. 3) The manipulator will apply adjusting force for collision avoidance when over the destination. The validity of the analysis results of modulated potential field for 5 DoF manipulator was confirmed by the simulation and experiment.

AB - The basic structure and null space analysis of 5 DoF implant assist robot for position and angle adjustment is conducted in this paper. The problem of position control using the inverse matrix is the singular postures that make the system unstable. In this paper, the modulated potential field is also extended to 5 DoF robot manipulator for both position adjustment and angle adjustment. It is proposed to achieve the three requirement performances for teaching the information of «where to start cutting». That is 1) Physician can Free moving the manipulator when far from the destination. 2) The manipulator will apply adjusting force for easy converge to the destination when close in the destination. 3) The manipulator will apply adjusting force for collision avoidance when over the destination. The validity of the analysis results of modulated potential field for 5 DoF manipulator was confirmed by the simulation and experiment.

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KW - Motion control

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Modulated potential field using 5 DoF implant assist robot for position and angle adjustment

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Keywords

ASJC Scopus subject areas

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