DocumentCode
496136
Title
Dynamic Model of Induced Master Motion in Telerobotics
Author
Jintian, Yun ; Kun, Li
Author_Institution
Coll. of Mech. & Electron. Eng., Tianjin Polytech. Univ., Tianjin, China
Volume
1
fYear
2009
fDate
25-26 July 2009
Firstpage
493
Lastpage
496
Abstract
A model-based position compensation method for precisely quantifying induced master motion and precise motion control in telerobotics system is proposed. Kinematics and dynamics of Phantom Premium 1.5 are analyzed, dynamic characteristics of the user are studied, and the dynamics of induced master motion is modeled. The accuracy of the model is discussed by a simulation example.
Keywords
motion control; robot dynamics; robot kinematics; telerobotics; Phantom Premium 1.5; induced master motion; model-based position compensation method; precise motion control; telerobotics system; Control systems; Force feedback; Imaging phantoms; Information technology; Kinematics; Manipulator dynamics; Master-slave; Surgery; Telerobotics; Tracking; dynamic model; induced master motion; master; simulation study;
fLanguage
English
Publisher
ieee
Conference_Titel
Information Technology and Computer Science, 2009. ITCS 2009. International Conference on
Conference_Location
Kiev
Print_ISBN
978-0-7695-3688-0
Type
conf
DOI
10.1109/ITCS.2009.107
Filename
5190119
Link To Document