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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Saafi, H. Laribi, M.A. Zeghloul, S. Ibrahim, M.Y. |
| Copyright Year | 2014 |
| Description | Author affiliation: DGMSC, Univ. of Poitiers, Poitiers, France (Saafi, H.; Laribi, M.A.; Zeghloul, S.) || Monash Univ., Churchill, VIC, Australia (Ibrahim, M.Y.) |
| Abstract | The overall objective of this work is to develop a system composed of master, slave and a control system for special medical applications. A PROMIS (Pprime RObot for Minimally Invasive Surgery) system is designed to be cost-effective with a less complication of use and an application-specific for collaborative operations between the surgeon and the robot. This paper focuses on the introduction of a motion safety control methodology for a haptic device. The haptic device is used as a master with a parallel spherical architecture (SPM). The introduced control methodology is based on the workspace of the medical application. Three areas of the workspace are defined with a consideration of the degree of security. An algorithm that constantly keeps the mobile platform in a safe region, when the surgeon moves it, is presented and explained. The developed algorithm runs in real-time using a programmable logic controller (PLC). The control strategy of the haptic device was successfully tested and validated experimentally. |
| Sponsorship | IEEE Ind. Electron. Soc. |
| Starting Page | 1233 |
| Ending Page | 1238 |
| File Size | 1635027 |
| Page Count | 6 |
| File Format | |
| ISBN | 9781479923991 |
| ISSN | 21635145 |
| DOI | 10.1109/ISIE.2014.6864790 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2014-06-01 |
| Publisher Place | Turkey |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Australia Haptic interfaces Manipulators Joints Sensors Trajectory Forword Kinematic Model Safety control Haptic device Spherical parallel manipulator |
| Content Type | Text |
| Resource Type | Article |
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