A user interface for a seven degree of freedom surgical robot

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dc.contributor.authorHeunis, J. S.en_ZA
dc.contributor.authorScheffer, C.en_ZA
dc.contributor.authorSchreve, K.en_ZA
dc.date.accessioned2014-07-07T12:28:59Z
dc.date.available2014-07-07T12:28:59Z
dc.date.issued2013
dc.descriptionCITATION: 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.
dc.descriptionThe original publication is available at https://www.saimeche.org.za/page/RDJournal
dc.description.abstractThis 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.
dc.description.urihttps://www.saimeche.org.za/page/RD_2013
dc.description.versionPublisher's version
dc.format.extent11 pages
dc.identifier.citationHeunis, J. S., Sheffer, C. & Schreve, K. 2013. A user interface for a seven degree of freedom surgical robot. R&D Journal, 29:44-54.
dc.identifier.issn2309-8988 (online)
dc.identifier.urihttp://hdl.handle.net/10019.1/94123
dc.language.isoen
dc.publisherSouth African Institution of Mechanical Engineering
dc.rights.holderAuthors retain copyright
dc.subjectSurgical robotsen_ZA
dc.titleA user interface for a seven degree of freedom surgical roboten_ZA
dc.typeArticle
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