DocumentCode
3720140
Title
Eye-RHAS manipulator: From kinematics to trajectory control
Author
Ebrahim Abedloo;Soheil Gholami;Hamid D. Taghirad
Author_Institution
Advanced Robotics and Automated Systems (ARAS), Industrial Control Center of Excellence (ICCE), Faculty of Electrical Engineering, K.N. Toosi University of Technology, Tehran, Iran
fYear
2015
Firstpage
61
Lastpage
66
Abstract
One of the challenging issues in the robotic technology is to use robotics arm for surgeries, especially in eye operations. Among the recently developed mechanisms for this purpose, there exists a robot, called Eye-RHAS, that presents sustainable precision in vitreo-retinal eye surgeries. In this work the closed-form dynamical model of this robot has been derived by Gibbs-Appell method. Furthermore, this formulation is verified through SimMechanics Toolbox of MATLAB. Finally, the robot is simulated in a real time trajectory control in a teleoperation scheme. The tracking errors show the effectiveness and applicability of the dynamic formulation to be used in the teleoperation schemes.
Keywords
"Mathematical model","Surgery","Manipulators","Trajectory","Robot kinematics","Kinematics"
Publisher
ieee
Conference_Titel
Robotics and Mechatronics (ICROM), 2015 3rd RSI International Conference on
Type
conf
DOI
10.1109/ICRoM.2015.7367761
Filename
7367761
Link To Document