The kinematics modeling based on Spinor theory for CT-guided hybrid robot  

作　　者：唐粲 

机构地区：[1]Robotics Institute,School of Mechanical Engineering and Automation,Beijing University of Aeronautics and Astronautics

出　　处：《High Technology Letters》2009年第1期20-25,共6页高技术通讯（英文版）

基　　金：Sponsored by the International Cooperation Project from the Ministry of Science and Technology of China ( No. 2006DFA12290);Project of Natural Science Fund of China (No. 60705033);Studying abroad and Homecoming Fund from the Ministry of Education

摘　　要：This paper focused on a simplified method for solving the hybrid robot kinematics in CT-guided （computerized tomography, CT） surgery. By position constraint introduced, the hybrid robot can be transformed as a redundant serial 7-DOF robot. The forward displacement calculation was developed based on the product-of-exponential formula （POE）. Because of the kinematics complexity of the hybrid and redundant robot, the combination technique of Ulrich two-step iteration method and paul variables detachment method （UTI-PVD） was introduced to fulfill the inverse kinematics of redundant robot, the novelty of which lay in the flexibility of various robots structures and in high calculation efficiency for realtime control. The process of solving the inverse displacement was analyzed. The UTI-PVD method can be applicable to kinematics of many robots, especially for redundant robots with more than 6DOF. The kinematics simulation was provided, and robot dexterity analysis was presented. The results indicated that the hybrid robot could implement the minimally invasive CT-guided surgery.This paper focused on a simplified method for solving the hybrid robot kinematics in CT-guided(computerized tomography,CT)surgery.By position constraint introduced,the hybrid robot can betransformed as a redundant serial 7-DOF robot.The forward displacement calculation was developedbased on the product-of-exponential formula(POE).Because of the kinematics complexity of the hybridand redundant robot,the combination technique of Ulrich two-step iteration method and paul variablesdetachment method(UTT-PVD)was introduced to fulfill the inverse kinematics of redundant robot,thenovelty of which lay in the flexibility of various robots structures and in high calculation efficiency for real-time control.The process of solving the inverse displacement was analyzed.The UTI-PVD method can beapplicable to kinematics of many robots,especially for redundant robots with more than 6D0F.The kine-matics simulation was provided,and robot dexterity analysis was presented.The results indicated that thehybrid robot could implement the minimally invasive CT-guided surgery.

关 键 词：CT-guided surgery hybrid robot KINEMATICS product-of-exponential formula UTIPVD method 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP242.2[自动化与计算机技术—控制科学与工程]