Kinematic Analysis of the Raven-II(tm) Research Surgical Robot Platform

King, Hawkeye and Kosari, Sina Nia and Hannaford, Blake and Ma, Ji (2012) Kinematic Analysis of the Raven-II(tm) Research Surgical Robot Platform. University of Washington Electrical Engineering Department Technical Report, UWEETR.

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Abstract

A detailed kinematic analysis of the Raven-II(TM) surgical robotics research platform is presented which unifies previous approaches. A standardized link frame assignment methodology is presented. There are different frame assignments and kinematic parameters for the left and right arms, but a single set for the instruments. Forward and inverse kinematic analyses are presented. An offset value (a3), when present, requires a numerical solution of the inverse kinematics. A closed form solution is presented for the a3=0 case.

Item Type: Article
Subjects: C Surgical Robots > C Surgical Robots(General)
Divisions: Department of Electrical Engineering
Depositing User: Margaret Thompson
Date Deposited: 07 Jul 2015 23:32
Last Modified: 07 Jul 2015 23:32
URI: http://brl.ee.washington.edu/eprints/id/eprint/39

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