A user interface for a seven degree of freedom surgical robot
Date
2013
Authors
Journal Title
Journal ISSN
Volume Title
Publisher
South African Institution of Mechanical Engineering
Abstract
This paper presents the design of a joystick-type user
interface for the master-slave control of a seven
degree of freedom (DOF) minimally invasive
surgical robot. The joystick is a seven DOF all
revolute articulated arm. The electronic design
implements AS5040 magnetic rotary encoders for the
joystick’s position and orientation tracking. The
control system required the mathematical modelling
of the joystick and robot using the Denavit-
Hartenberg convention. Testing demonstrates the
intuitiveness of the joystick control.
Description
CITATION: Heunis, J. S., Sheffer, C. & Schreve, K. 2013. A user interface for a seven degree of freedom surgical robot. R&D Journal, 29:44-54.
The original publication is available at https://www.saimeche.org.za/page/RDJournal
The original publication is available at https://www.saimeche.org.za/page/RDJournal
Keywords
Surgical robots
Citation
Heunis, J. S., Sheffer, C. & Schreve, K. 2013. A user interface for a seven degree of freedom surgical robot. R&D Journal, 29:44-54.