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

Koyo Yu, Kouhei Ohnishi, Hiromasa Kawana, Shin Usuda

研究成果: Conference contribution

7 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルIECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society
出版社Institute of Electrical and Electronics Engineers Inc.
ページ2166-2171
ページ数6
ISBN(電子版)9781479917624
DOI
出版ステータスPublished - 2016 1月 25
イベント41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015 - Yokohama, Japan
継続期間: 2015 11月 92015 11月 12

Other

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

ASJC Scopus subject areas

  • 電子工学および電気工学
  • 産業および生産工学

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