Motion planning for mobile surgery assistant

• Autorzy: Pajak G. , Pajak I.

Identyfikatory

DOI

10.5277/abb140202

• Języki publikacji: EN

Abstrakty

EN

The paper presents a method of motion planning for a mobile manipulator acting as a helper providing the necessary tools or a surgery assistant carrying out pre-planned procedures. Mobility of this system makes it possible to reach the position which will give optimal access to the operating field. The path of the end-effector, determined during operation pre-planning, is defined as a curve parameterized by any scaling parameter, the reference trajectory of a mobile platform is not needed. The motion of the mobile manipulator is planned in order to maximise the manipulability measure, thus to avoid manipulator singularities. The method is based on a penalty function approach and a redundancy resolution at the acceleration level. Constraints connected with the existence of mechanical limits for a given manipulator configuration, collision avoidance conditions and control constraints are considered. A computer example involving a mobile manipulator consisting of a nonholonomic platform (2,0) class and a 3 DOF RPR type holonomic manipulator operating in a three-dimensional task space is also presented.

Słowa kluczowe

EN

mobile manipulator; path following; trajectory planning; surgery assistant

PL

manipulator mobilny; planowanie trajektorii; śledzenie ścieżki

• Wydawca: Oficyna Wydawnicza Politechniki Wrocławskiej
• Czasopismo: Acta of Bioengineering and Biomechanics
• Rocznik: 2014
• Tom: Vol. 16, no. 2
• Strony: 11--20
• Opis fizyczny: Bibliogr. 27 poz., wykr.

Twórcy

autor

Pajak G.

• Faculty of Mechanical Engineering, University of Zielona Góra, Poland

autor

Pajak I.

• Faculty of Mechanical Engineering, University of Zielona Góra, Poland

Bibliografia

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