Effect of trajectory planning duration time on correct dynamic response selection of micro-robot for surgical application

Abstract

The applications of robotics in medical field have increased extensively in the last two decades. The aim of this paper is to study the effect of trajectory planning method duration time on correct dynamic response selection of six degrees of freedom micro-robot intended for surgery applications using two different methods of trajectory planning with different four duration times (5, 10, 20 and 60 s). The kinematic equations of motion were obtained using Denavit-Hartemberg representation. The dynamic equations of motion, which are important for the proper design of robot controller, were first derived using the Lagrangian-Euler technique. Then, the required hub torque to move each joint was calculated for the motor selection. The trajectory planning was derived using two different methods of trajectory planning with different four duration times (5, 10, 20 and 60 s). These methods are the fifth-order polynomial and soft motion trajectory planning. A comparison of the trajectory planning and dynamic response for the different four duration times was carried out of the two different methods of trajectory planning to choose the best duration time and the best method of trajectory planning that gives the correct dynamic response, smooth set trajectory planning and best performance of the robot under investigation. The simulation results were obtained using MATLAB software.

Keywords: Trajectory planning, dynamic response, micro-robot, surgery applications, Lagrangian-Euler technique, fifth-order polynomial, soft motion, duration time, correct dynamic response selection, MATLAB software.