• DocumentCode
    3636595
  • 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
  • fYear
    2010
  • Firstpage
    48
  • Lastpage
    53
  • 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"
  • Publisher
    ieee
  • Conference_Titel
    Human System Interactions (HSI), 2010 3rd Conference on
  • ISSN
    2158-2246
  • Print_ISBN
    978-1-4244-7560-5
  • Electronic_ISBN
    2158-2254
  • Type

    conf

  • DOI
    10.1109/HSI.2010.5514590
  • Filename
    5514590
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3636595