Title :
Real time evaluation of inverse kinematics for a 3-RPS medical parallel robot usind dSpace platform
Author :
Ciprian-Radu Rad;Milos Manic;Radu Bälan;Sergiu-Dan Stan
Author_Institution :
Technical University of Cluj-Napoca, Cluj-Napoca, Romania
Abstract :
The paper addresses the analysis of three methods for inverse kinematics of a 3-DOF medical parallel robot with R-P-S (Revolute-Prismatic-Spherical) joint structure using MATLAB/Simulink and dSpace platform. The three methods were implemented in MATLAB/Simulink and than exported to dSpace realtime development platform. A comparation between the times of these three methods has been studyed. The scope of this paper is to illustrate which method is a suitable one in a realtime medical applications.
Keywords :
"Kinematics","Parallel robots","Medical robotics","Computational geometry","MATLAB","Manipulators","Mathematical model","Equations","Cost accounting","Medical services"
Conference_Titel :
Human System Interactions (HSI), 2010 3rd Conference on
Print_ISBN :
978-1-4244-7560-5
Electronic_ISBN :
2158-2254
DOI :
10.1109/HSI.2010.5514590
