PARMIS并联机器人系统混合控制单元的介绍

2014 IEEE International Conference on Automation, Quality and Testing, Robotics Pub Date : 2014-05-22 DOI:10.1109/AQTR.2014.6857871

B. Gyurka, I. Kovacs, D. Pisla

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引用次数: 0

摘要

本文介绍了并联机器人的不同控制系统。PARMIS机器人用于微创手术。PARMIS机器人系统由三个机械臂PARAMIS和PARASURG-9M组成，右手和左手。PARASURG- 9m手臂由PARASURG 5M和左机器人PARASIM组成，这是一种灵巧的4-DOFS手术器械。文中给出了各控制系统的运动结构、单元结构、算法和软件实现、用户界面，并给出了结论。

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Presentation of the mixt control unit for PARMIS parallel robotic system

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.

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来源期刊

2014 IEEE International Conference on Automation, Quality and Testing, Robotics

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