Kinematics &Dynamics Analysis of Micro-Robot for Surgical Applications: Micro- Robot Management Using MATLAB


Huge Savings Item! Save 18% on the Kinematics &Dynamics Analysis of Micro-Robot for Surgical Applications: Micro- Robot Management Using MATLAB by Wael Al Tabey at Pacific Surgical Institute. Hurry! Limited time offer. Offer valid only while supplies last. The applications of robotics in medical field have increased extensively in the last two decades. This work aims at investigating the kinematics and dynamics of six degrees of freedom micro-robot intended for surgery applications. The kinematic equations of motion were obtained using Denavit-Hartemberg representation. The workspace of the robot was investigated based on the kinematic equations as well as the physical limit of each joint. The dynamic equations of motion, which are important for t


Kinematics &Dynamics Analysis of Micro-Robot for Surgical Applications: Micro- Robot Management Using MATLAB by Wael Al Tabey
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The applications of robotics in medical field have increased extensively in the last two decades. This work aims at investigating the kinematics and dynamics of six degrees of freedom micro-robot intended for surgery applications. The kinematic equations of motion were obtained using Denavit-Hartemberg representation. The workspace of the robot was investigated based on the kinematic equations as well as the physical limit of each joint. The dynamic equations of motion, which are important for the proper design of robot controller, were first derived using the Lagrangian-Euler technique. Then the required hub torque to move each joint was calculated for the motor selection. The trajectory planning was derived using four different methods of trajectory planning. These methods are the third-order polynomial, fifth-order polynomial, linear segments with parabolic blends and soft motion trajectory planning. A comparison of the results was carried out to choose the best method that gives the smooth set trajectory planning and best performance of the robot under investigation.The simulation results were obtained using MATLAB.

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  • Kinematics Dynamics Analysis of Micro Robot for Surgical Applications

Additional Information

Brand:
Wael Al Tabey
Manufacturer:
LAP LAMBERT Academic Publishing
Category:
Surgical Robots
EAN:
9783848430963
Author:
Wael Al-Tabey
Publisher:
LAP LAMBERT Academic Publishing
Publication Date:
2012-03-14
Binding:
Paperback
Item Weight:
0.46 pounds
Item Size:
0.31 x 8.66 x 5.91 inches
Package Weight:
0.55 pounds
Package Size:
5.91 x 0.31 x 8.66 inches

 


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