Research Gravity Compensation for Master Manipulator with Time Delay

Hong Min Wang; Zhi Jiang Du; Zhi Kai Zhao; Rong Qiang Liu

doi:10.4028/www.scientific.net/AMM.496-500.1413

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 496-500Research Gravity Compensation for Master...

Research Gravity Compensation for Master Manipulator with Time Delay

Abstract:

A gravity compensation algorithm for master manipulator used in minimally invasive robot surgery is proposed in this paper. The Lagrange dynamic equation is used to solve the motor output torque for balancing the master gravity. To avoid time delay in signal processing, multi-thread and multi-event technology are used in software control system. With the algorithm, the force by hand is very small under the condition of exist gravity compensation, less output more than 90% of the external force compared with the lack of gravity compensation.

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Periodical:

Applied Mechanics and Materials (Volumes 496-500)

Pages:

1413-1416

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.496-500.1413

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Online since:

January 2014

Authors:

Hong Min Wang, Zhi Jiang Du, Zhi Kai Zhao, Rong Qiang Liu

Keywords:

Gravity Compensation, Master Manipulator, Static Balancing, Time Delay

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