A Study on the Posture Based Control of Robotic Fixation Device

摘要

To match the motion between the manipulator and the robot is very important for the success of the precise operation in the development of an orthopedic surgical robot. The easiest method of motion control of the Stewart Platform based surgical robot is to control the length of six legs of a robot same as by each length of manipulator's. But this method cannot match the 6 DOF posture of manipulator to robot if the length and size of the manipulator and the robot are not identical. Since the precise alignment between upper and lower plate is very critical during surgical operation, the posture based control of Stewart Platform is necessary. In this study, the posture based control algorithm is proposed in order to align the upper and lower plate of robot with those of manipulator precisely. Also, this approach was theoretically simulated by MATLAB, as well as verified by experiment.