Journal of the Korean Society of Manufacturing Technology Engineers (한국생산제조학회지)

The Korean Society of Manufacturing Technology Engineers (한국생산제조학회)
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Path Control for NeuroMate Robot in a Skull Drilling System

두개골 천공을 위한 NeuroMate 로봇의 경로 제어

  • 정연찬 (서울과학기술대학교 기계시스템디자인공학과)
  • Received : 2013.01.07
  • Accepted : 2013.02.20
  • Published : 2013.04.15
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Abstract

This paper presents a linear path control algorithm for NeuroMate robot in a skull drilling system. For the path control inverse kinematics of the robot is analyzed and a linear interpolation algorithm is presented. A geometric approach is used for solving inverse kinematic equations for the robot. Four feasible solutions are found through the approach. The approach gives geometric insights for selecting the best solution from the feasible solutions. The presented linear interpolation algorithm computes a next position considering current velocity and remaining distance to the target position. Presented algorithm is implemented and tested in a skull drilling system.

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References

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Cited by

  1. Tool-path Generation for a Robotic Skull Drilling System vol.18, pp.4, 2013, https://doi.org/10.7315/CADCAM.2013.243