IDEAS home Printed from https://ideas.repec.org/a/gam/jmathe/v8y2020i7p1086-d379882.html
   My bibliography  Save this article

Joint-Space Characterization of a Medical Parallel Robot Based on a Dual Quaternion Representation of SE(3)

Author

Listed:
  • Iosif Birlescu

    (Research Center for Industrial Robots Simulation and Testing, Technical University of Cluj-Napoca, 400114 Cluj-Napoca, Romania)

  • Manfred Husty

    (Unit Geometry and CAD, University of Innsbruck, 6020 Innsbruck, Austria)

  • Calin Vaida

    (Research Center for Industrial Robots Simulation and Testing, Technical University of Cluj-Napoca, 400114 Cluj-Napoca, Romania)

  • Bogdan Gherman

    (Research Center for Industrial Robots Simulation and Testing, Technical University of Cluj-Napoca, 400114 Cluj-Napoca, Romania)

  • Paul Tucan

    (Research Center for Industrial Robots Simulation and Testing, Technical University of Cluj-Napoca, 400114 Cluj-Napoca, Romania)

  • Doina Pisla

    (Research Center for Industrial Robots Simulation and Testing, Technical University of Cluj-Napoca, 400114 Cluj-Napoca, Romania)

Abstract

The paper proposes a mathematical method for redefining motion parameterizations based on the joint-space representation of parallel robots. The study parameters of SE(3) are used to describe the robot kinematic chains, but, rather than directly analyzing the mobile platform motion, the joint-space of the mechanism is studied by eliminating the Study parameters. From the loop equations of the joint-space characterization, new parameterizations are defined, which enable the placement of a mobile frame on any mechanical element within the parallel robot. A case study is presented for a medical parallel robotic system in which the joint-space characterization is achieved and based on a new defined parameterization, the kinematics for displacement, velocities, and accelerations are studied. A numerical simulation is presented for the derived kinematic models, showing how the medical robot guides the medical tool (ultrasound probe) on an imposed trajectory.

Suggested Citation

  • Iosif Birlescu & Manfred Husty & Calin Vaida & Bogdan Gherman & Paul Tucan & Doina Pisla, 2020. "Joint-Space Characterization of a Medical Parallel Robot Based on a Dual Quaternion Representation of SE(3)," Mathematics, MDPI, vol. 8(7), pages 1-23, July.
    • Handle: RePEc:gam:jmathe:v:8:y:2020:i:7:p:1086-:d:379882
    as

    Download full text from publisher

    File URL: https://www.mdpi.com/2227-7390/8/7/1086/pdf
    Download Restriction: no
    File URL: https://www.mdpi.com/2227-7390/8/7/1086/
    Download Restriction: no
    ---><---

    Citations

    Citations are extracted by the CitEc Project, subscribe to its RSS feed for this item.
    as


    Cited by:

    1. Stelian Alaci & Ioan Doroftei & Florina-Carmen Ciornei & Ionut-Cristian Romanu & Ioan Alexandru Doroftei, 2022. "The Kinematics of a Bipod R2RR Coupling between Two Non-Coplanar Shafts," Mathematics, MDPI, vol. 10(16), pages 1-25, August.

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:gam:jmathe:v:8:y:2020:i:7:p:1086-:d:379882. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    We have no bibliographic references for this item. You can help adding them by using this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: MDPI Indexing Manager (email available below). General contact details of provider: https://www.mdpi.com .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.