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Tehnički vjesnik, Vol.24 No.6 Prosinac 2017.

Izvorni znanstveni članak
https://doi.org/10.17559/TV-20170213110534

Position planning for collaborating robots and its application in neurosurgery

Josip Vidaković   ORCID icon orcid.org/0000-0001-6189-1730 ; Faculty of Mechanical Engineering and Naval Architecture, University of Zagreb, Ivana Lučića 5, 10002 Zagreb, Croatia
Bojan Jerbić   ORCID icon orcid.org/0000-0003-1811-5669 ; Faculty of Mechanical Engineering and Naval Architecture, University of Zagreb, Ivana Lučića 5, 10002 Zagreb, Croatia
Marko Švaco   ORCID icon orcid.org/0000-0002-6761-4336 ; Faculty of Mechanical Engineering and Naval Architecture, University of Zagreb, Ivana Lučića 5, 10002 Zagreb, Croatia
Filip Šuligoj ; Faculty of Mechanical Engineering and Naval Architecture, University of Zagreb, Ivana Lučića 5, 10002 Zagreb, Croatia
Bojan Šekoranja ; Faculty of Mechanical Engineering and Naval Architecture, University of Zagreb, Ivana Lučića 5, 10002 Zagreb, Croatia

Puni tekst: engleski, pdf (1 MB) str. 1705-1711 preuzimanja: 0* citiraj
APA
Vidaković, J., Jerbić, B., Švaco, M., Šuligoj, F., Šekoranja, B. (2017). Position planning for collaborating robots and its application in neurosurgery. Tehnički vjesnik, 24(6). doi:10.17559/TV-20170213110534
Puni tekst: hrvatski, pdf (1 MB) str. 1705-1711 preuzimanja: 0* citiraj
APA
Vidaković, J., Jerbić, B., Švaco, M., Šuligoj, F., Šekoranja, B. (2017). Planiranje prostornog razmještaja suradničkih robota i njihova primjena u neurokirurgiji. Tehnički vjesnik, 24(6). doi:10.17559/TV-20170213110534

Sažetak
Applications of robot manipulators in surgery are nowadays a very actual field of research. Still, there are a number of technical problems when setting and preparing robotical systems for various operation procedures. One of them is the robot-patient placement. When placing robots in respect to known target working positions it is crucial to assure feasible positioning where all required motions can be executed with no kinematic or collision problems. A planning method for robot placement suitable for neurosurgical operations is presented in this paper. The planning method is based on a multi-objective cost function which is composed of criteria that balance dexterity properties with a novel collision avoiding parameter. Use of the planning approach is implemented and validated on a dual arm robot setup.

Ključne riječi
robot; collaboration; position planning; neurosurgery

Hrčak ID: 190166

URI
http://hrcak.srce.hr/190166

[hrvatski]

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