Modulated potential field using 5 DoF implant assist robot for position and angle adjustment
- Resource Type
- Conference
- Authors
- Yu, Koyo; Ohnishi, Kouhei; Kawana, Hiromasa; Usuda, Shin
- Source
- IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society Industrial Electronics Society, IECON 2015 - 41st Annual Conference of the IEEE. :002166-002171 Nov, 2015
- Subject
- Computing and Processing
Power, Energy and Industry Applications
Robotics and Control Systems
Signal Processing and Analysis
Jacobian matrices
Manipulators
Matrix converters
Force
Kinematics
Implants
Medical robotics
Force control
Medical treatment
Motion control
- Language
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.