Our self designed surgical robotic assistant system needs a very intuitive user interface to make such a complex mechanical system like the robot easily controllable by non technical staff like a nurse our a surgeon. To solve this problem a force torque sensor is mounted at the robot’s flange. Using the measurement data of this sensor it is possible to implement an operating mode where the user can grab the robot flange and guide it to the desired pose. However, in this operating mode you cannot avoid that the user moves the robot to a singular position. That’s why a singularity robust inverse velocity kinematics is needed.
Your Task
- Adaption of a given approach to our robot arm
- Implementation of the algorithm in LabVIEW
Prerequisite Skills
- Programming experience with LabVIEW
- Very good knowledge in robotics
- Very good knowledge in matrix algebra and in analytical solution of complex equations
- To work independently and well structured
You have the chance to improve your knowledge in robotics and to use your knowledge in mathematics for solving a practical problem. In addition you can get some deeper experience in programming and learn how to document a project.
Universität Siegen
Siegen (GERMANY)