Presentation of the mixt control unit for PARMIS parallel robotic system

Abstract

This paper presents different control system for parallel robots. The PARMIS robot is used in minimally invasive surgery. PARMIS robotic system consists of three robotic arms PARAMIS and PARASURG-9M right hand and left hand. PARASURG-9M arm consists of PARASURG 5M and left robotic PARASIM, a dexterous 4-DOFS surgical instrument. The paper presents the kinematic structure of each the control system unit structure, algorithms and software implemented, user interfaces, and conclusion.