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
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;
Conference_Titel :
Information Technology and Computer Science, 2009. ITCS 2009. International Conference on
Conference_Location :
Kiev
Print_ISBN :
978-0-7695-3688-0
DOI :
10.1109/ITCS.2009.107
