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Authors: Achim Wagner 1 ; Matthias Nübel 1 ; Essam Badreddin 1 ; Peter P. Pott 2 and Markus L. Schwarz 2

Affiliations: 1 Automation Laboratory, University of Mannheim, Germany ; 2 Laboratory for Biomechanics and experimental Orthopaedics, OUZ, Faculty of Medicine Mannheim, University of Heidelberg, Germany

ISBN: 978-972-8865-83-2

Keyword(s): Robotic manipulators, Medical systems, Dynamic modelling, Disturbance rejection, Feedforward compensation.

Related Ontology Subjects/Areas/Topics: Human Augmentation and Shared Control ; Informatics in Control, Automation and Robotics ; Modeling, Simulation and Architectures ; Robot Design, Development and Control ; Robotics and Automation

Abstract: A model-based control approach for a surgical parallel robot is presented, which combines a local tool stabilization with a global disturbance feed forward control. The robot is held in the operator’s hand during the manipulation of bones. For a precise processing the tool has to be decoupled from disturbances due to unintentional hand movements of the surgeon at the robot base. The base disturbances are transformed for a feed forward control using the inverse dynamics of the robot. Simulations show that disturbances can be reduced by many orders depending on sensor errors and delay.

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Paper citation in several formats:
Wagner A.; Nübel M.; Badreddin E.; P. Pott P.; L. Schwarz M. and (2007). DISTURBANCE FEED FORWARD CONTROL OF A HANDHELD PARALLEL ROBOT.In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-972-8865-83-2, pages 44-51. DOI: 10.5220/0001626500440051

@conference{icinco07,
author={Achim Wagner and Matthias Nübel and Essam Badreddin and Peter {P. Pott} and Markus {L. Schwarz}},
title={DISTURBANCE FEED FORWARD CONTROL OF A HANDHELD PARALLEL ROBOT},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2007},
pages={44-51},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001626500440051},
isbn={978-972-8865-83-2},
}

TY - CONF

JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - DISTURBANCE FEED FORWARD CONTROL OF A HANDHELD PARALLEL ROBOT
SN - 978-972-8865-83-2
AU - Wagner, A.
AU - Nübel, M.
AU - Badreddin, E.
AU - P. Pott, P.
AU - L. Schwarz, M.
PY - 2007
SP - 44
EP - 51
DO - 10.5220/0001626500440051

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