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 proceedingConference contribution

4 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 languageEnglish
Title of host publicationIECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2166-2171
Number of pages6
ISBN (Electronic)9781479917624
DOIs
Publication statusPublished - 2016 Jan 25
Event41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015 - Yokohama, Japan
Duration: 2015 Nov 92015 Nov 12

Other

Other41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015
CountryJapan
CityYokohama
Period15/11/915/11/12

Keywords

  • Force control
  • Manipulators
  • Medical robotics
  • Medical treatment
  • Motion control

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering

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  • Cite this

    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 (pp. 2166-2171). [7392422] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IECON.2015.7392422