Simulation for Path Planning and Motion Control for Medical Robot.

L. Gonchar, D. Engel, J. Raczkowsky, H. Woern, N.I. Yussupova, G.R.Shakhmametova: Simulation for Path Planning and Motion Control for Medical Robot CSIT 2000 : 260-264

Abstract

This paper illustrates using simulations in path planning and motion control for a medical robot with six degrees of freedom (DOF) in a given 3D-environment. The paper describes briefly the essential features of the developed system and its basic components, including its use for determining the optimum or near optimum configuration of the robot manipulator. Determining the configuration is based on the geometrical approach and provides high planning precision. The paper presents the simulation system and its use in robot motion planning.

Copyright © 2000 by the Institute for Contemporary Education "JurInfoR-MSU". Permission to copy without fee all or part of this material is granted provided that the copies are not made or distributed for direct commercial advantage, the CSIT copyright notice and the title of the publication and its date appear, and notice is given that copying is by permission of the Institute for Contemporary Education JMSUICE. To copy otherwise, or to republish, requires a fee and/or special permission from the JMSUICE.

Printed Edition

Heinz Schweppe and Yuri S. Kabalnov (Eds.): CSIT'2000, Proceedings of 2nd International Workshop on Computer Science and Information Technologies, September 18-23, 2000, Ufa, Russia. USATU Publishers & JurInfoR-MSU Publishing 2000, ISBN 5-86911-312-1

Electronic Edition