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http://dx.doi.org/10.7735/ksmte.2013.22.2.256

Path Control for NeuroMate Robot in a Skull Drilling System  

Chung, Yun-Chan (서울과학기술대학교 기계시스템디자인공학과)
Publication Information
Journal of the Korean Society of Manufacturing Technology Engineers / v.22, no.2, 2013 , pp. 256-262 More about this Journal
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.
Keywords
Skull drilling; NeuroMate robot; Inverse kinematics; Path control; Linear interpolation;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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