research-article

Static balancing and inertia compensation of a master manipulator for tele-operated surgical robot application

Authors:

Karthik Chandrasekaran,

Sakthivel Sivaraman,

Asokan ThondiyathAuthors Info & Claims

AIR '15: Proceedings of the 2015 Conference on Advances In Robotics

Article No.: 14, Pages 1 - 5

https://doi.org/10.1145/2783449.2783463

Published: 02 July 2015 Publication History

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Abstract

Tele-operated robotic surgery is becoming popular and there is a need for design of better robotic arms for increased dexterity and user convenience. In the master-slave configuration of surgical robots, master manipulator plays an important role in ensuring user comfort and dexterity. The design and analysis of a master arm with 6 DOF with a wrist decoupled configuration is presented here. Primary focus of the design is to reduce the number of balancing masses required. By strategically positioning the joint axes, the balancing requirement for some of the axes has been eliminated. Also, through proper design modifications, remote placement of balancing masses has been achieved which reduces the net inertia of the system. Static balancing of the arm is analysed and an optimal design to achieve the balancing is presented. The residual imbalance is corrected through inertia compensation using feed forward control. The design details of the arm, its kinematic analysis, and balancing are presented in this paper.

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Cited By

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Kang DKwon D(2022)An ergonomic comfort workspace analysis of master manipulator for robotic laparoscopic surgery with motion scaled teleoperation systemThe International Journal of Medical Robotics and Computer Assisted Surgery10.1002/rcs.244818:6Online publication date: 31-Aug-2022
https://doi.org/10.1002/rcs.2448
Du ZLiang YYan ZSun LChen W(2021)Human-robot interaction control of a haptic master manipulator used in laparoscopic minimally invasive surgical robot systemMechanism and Machine Theory10.1016/j.mechmachtheory.2020.104132156(104132)Online publication date: Feb-2021
https://doi.org/10.1016/j.mechmachtheory.2020.104132
Zhang YKim DZhao YLee J(2020)PD Control of a Manipulator with Gravity and Inertia Compensation Using an RBF Neural NetworkInternational Journal of Control, Automation and Systems10.1007/s12555-019-0482-xOnline publication date: 21-Oct-2020
https://doi.org/10.1007/s12555-019-0482-x
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Static balancing and inertia compensation of a master manipulator for tele-operated surgical robot application
1. Computer systems organization
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Published In

AIR '15: Proceedings of the 2015 Conference on Advances In Robotics

July 2015

413 pages

ISBN:9781450333566

DOI:10.1145/2783449

Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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Association for Computing Machinery

New York, NY, United States

Publication History

Published: 02 July 2015

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AIR '15

AIR '15: Advances In Robotics

July 2 - 4, 2015

Goa, India

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Cited By

View all

Kang DKwon D(2022)An ergonomic comfort workspace analysis of master manipulator for robotic laparoscopic surgery with motion scaled teleoperation systemThe International Journal of Medical Robotics and Computer Assisted Surgery10.1002/rcs.244818:6Online publication date: 31-Aug-2022
https://doi.org/10.1002/rcs.2448
Du ZLiang YYan ZSun LChen W(2021)Human-robot interaction control of a haptic master manipulator used in laparoscopic minimally invasive surgical robot systemMechanism and Machine Theory10.1016/j.mechmachtheory.2020.104132156(104132)Online publication date: Feb-2021
https://doi.org/10.1016/j.mechmachtheory.2020.104132
Zhang YKim DZhao YLee J(2020)PD Control of a Manipulator with Gravity and Inertia Compensation Using an RBF Neural NetworkInternational Journal of Control, Automation and Systems10.1007/s12555-019-0482-xOnline publication date: 21-Oct-2020
https://doi.org/10.1007/s12555-019-0482-x
Zou SPan BFu YGuo S(2018)Improving backdrivability in preoperative manual manipulability of minimally invasive surgery robotIndustrial Robot: An International Journal10.1108/IR-02-2017-003145:1(127-140)Online publication date: 15-Jan-2018
https://doi.org/10.1108/IR-02-2017-0031

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PD control with on-line gravity compensation for robots with elastic joints: Theory and experiments

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