DYNAMIC MODEL OF MEDICAL ROBOT REPRESENTED AS DESCRIPTOR SYSTEM

摘要

† Abstract Dynamic model of medical robotic system is presented. It includes both mathematical model of robot and mathematical model of actuators. Combined, they can be viewed as dynamic model of the whole system. Due to scope of use -- medical robotics -- external contact forces play important role in system dynamics. Mathematically, the constraints are represented as a set of algebraic equations. Consequently, mathematical model of robotic system appears to be singular system of differential equations. Mathematical equations that describe robot dynamic behaviour are non-linear. Linearization procedure is performed, as well as simulation for non-linear and linear model.