A user interface for a seven degree of freedom surgical robot

J. S. Heunis, C. Scheffer, K. Schreve
2012 2012 5th Robotics and Mechatronics Conference of South Africa  
44 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
more » ... trates the intuitiveness of the joystick control.
doi:10.1109/robomech.2012.6558467 fatcat:q7qtfjbtjzfpxcvy2tnal6carq