Naslov
Validation of Three KUKA Agilus Robots for Application in Neurosurgery

Autori
Švaco, Marko ; Koren, Petar ; Jerbić, Bojan ; Vidaković, Josip ; Šekoranja, Bojan ; Šuligoj, Filip

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
RAAD 2017: Advances in Service and Industrial Robotics / Ferraresi C., Quaglia G. - : Springer, 2017, 996-1006

ISBN
978-3-319-61276-8

Skup
International Conference on Robotics in Alpe-Adria Danube Region

Mjesto i datum
Torino, Italija, 21.06.2017. - 23.06.2017

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Robotics ; Neurosurgery ; Robotic surgery ; Robot reachability

Sažetak
In this paper, we verify three different 6 degrees of freedom Kuka Agilus robots for application in neurosurgery. Application specific reachability maps are gener-ated for robots with 707mm (R700), 901mm (R900), and 1101mm (R1100) hor-izontal reach. The reachability of each robot reflects a working volume of a stand-ard stereotactic frame which utilizes the center of arc principle. A working vol-ume with 100% reachability yield has been identified for the R900 and R1100 robots when the robot is positioned sideways to the patient. The R700 robot doesn’t have a 100% reachability yield work volume. Robot configurations with-in the reachability map are further optimized given two dexterity performance in-dices: the condition number and a new fuzzy joint limit avoidance function. In the experiments, we have further evaluated the impact on robot work volume given robot orientation with respect to the patient. After reorienting the robot a signifi-cant increase in work volume with 100% reachability yield was obtained for all three robots.

Izvorni jezik
Engleski

Znanstvena područja
Računarstvo, Strojarstvo

POVEZANOST RADA