Improvement of the direct kinematic model of a haptic device for medical application in real time using an extra sensor

被引：0

作者：

Saafi, Houssem ^{[1
]}

Laribi, Med Amine ^{[1
]}

Zeghloul, Said ^{[1
]}

机构：

[1] Univ Poitiers, CNRS, Pprime Inst, Dept GMSC,ENSMA,UPR 3346, Poitiers, France

来源：

2014 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2014) | 2014年

关键词：

PARALLEL MANIPULATORS;

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This paper deals with a spherical parallel manipulator developed for a master device, used in a teleoperation system for surgical application. The aim is to improve the calculation of the direct kinematic model (DKM) even when the parallel manipulator is in a singular configuration by using an extra sensor for a passive joint. A new simple approach for the DKM calculation of the haptic device, in order to meet requirement of real time applications, is developed. The measure of a passive joint's angle reduces the calculation time and improves the accuracy of the direct model particularly in the vicinity of the singular positions. Experiments were conducted on tele-operation system despite of the presence of singularities in the master workspace. The obtained results demonstrate the feasibility of the approach.

引用

页码：1697 / 1702

页数：6

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