Motion Planning and Error Analysis in Robot Assistant Micro-Surgery System

摘要

This paper firstly described the technical performances required for the robot that could be used in the micro-surgery. Then it made a simple introduction to the prototype of robot assistant micro-surgery (RAMS) system. After an analysis to the typical operations of micro-surgeries, we developed a simple and practical motion planning algorithm based on S-curve. Both kinematical and dynamical simulations were carried out as verifications to its validity and efficiency. At last, the article presented the results of micro-surgical experiment with animal