MATLAB/SIMULINK SIMULATION AND VALIDATION OF THE KINEMATICS MODEL OF A HYBRID ROBOT FOR MINIMALLY INVASIVE SURGERY

Andras Csaba SZILAGHYI, Doina PISLA

Abstract


In this paper a simulation model of a hybrid robot, developed for applications in minimally invasive surgery is presented. The movements of the end-effector are simulated using the Simulink model. A simulation based on the developed kinematics models is performed, using as input data the numerical values of the displacements, velocities and accelerations of the actuators. The numerical results obtained after simulation show that the model is correct and reliable, validating at the same time the kinematics models.

Key words: Matlab, Simulink, Simulation, Model, Hybrid robot, Minimally Invasive Surgery (MIS)

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References


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