Title :
Dynamic modeling of a parallel robot. Application to a surgical simulator
Author :
Leroy, N. ; Kokosy, A.M. ; Perruquetti, W.
Author_Institution :
Ecole Centrale de Lille, Villeneuve d´´Ascq, France
Abstract :
This paper presents a closed form solution for the dynamic model of a parallel robot. This robot is utilized like a haptic interface for a surgical simulator used in the amnicentesis operation. The dynamic model is obtained by using the Lagrange formulation applied to parallel robot. It is proved that for a large class of parallel robots which has some properties, it is possible to avoid the explicit calculation of Lagrange multipliers. The aim is to simplify the calculation for a real-time application.
Keywords :
haptic interfaces; medical robotics; real-time systems; robot dynamics; surgery; Lagrange formulation; Lagrange multiplier calculation; amnicentesis operation; closed form solution; dynamic modeling; haptic interface; parallel robot; real-time application; surgical simulator; Closed-form solution; Equations; Force control; Force feedback; Haptic interfaces; Lagrangian functions; Leg; Medical simulation; Parallel robots; Surgery;
Conference_Titel :
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on
Print_ISBN :
0-7803-7736-2
DOI :
10.1109/ROBOT.2003.1242270
