The control of the PARAMIS parallel robot using a haptic device

Gyurka, B.; Pîslă, Doina; Stancel, E.; Vaida, Călin; Gherman, Bogdan; Lese, D.; Suciu, M.; Plitea, Nicolae

doi:10.1109/aqtr.2010.5520857

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“…However, kinematics and dynamic analysis of the parallel structures is sometipmes more complicated due to the constraints and singularities presence [1]. Thus, the development of advanced control of the parallel mechanical systems is an important issue [2].…”

Section: Introductionmentioning

confidence: 99%

Presentation of the mixt control unit for PARMIS parallel robotic system

Gyurka

Kovács

Pîslă

2014

2014 IEEE International Conference on Automation, Quality and Testing, Robotics

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This paper presents different control system for parallel robots. The PARMIS robot is used in minimally invasive surgery. PARMIS robotic system consists of three robotic arms PARAMIS and PARASURG-9M right hand and left hand. PARASURG-9M arm consists of PARASURG 5M and left robotic PARASIM, a dexterous 4-DOFS surgical instrument. The paper presents the kinematic structure of each the control system unit structure, algorithms and software implemented, user interfaces, and conclusion

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Section: Introductionmentioning

confidence: 99%