- Tytuł:
- Motion planning for mobile surgery assistant
- Autorzy:
-
Pajak, G.
Pajak, I. - Powiązania:
- https://bibliotekanauki.pl/articles/306369.pdf
- Data publikacji:
- 2014
- Wydawca:
- Politechnika Wrocławska. Oficyna Wydawnicza Politechniki Wrocławskiej
- Tematy:
-
mobile manipulator
path following
trajectory planning
surgery assistant
manipulator mobilny
planowanie trajektorii
śledzenie ścieżki - Opis:
- 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.
- Źródło:
-
Acta of Bioengineering and Biomechanics; 2014, 16, 2; 11-20
1509-409X
2450-6303 - Pojawia się w:
- Acta of Bioengineering and Biomechanics
- Dostawca treści:
- Biblioteka Nauki
Artykuł