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 modeling of the joystick and robot using the Denavit-Hartenberg convention. Testing demonstrates the intuitiveness of the joystick control.
|Number of pages||11|
|Journal||R&D Journal of the SAIMechE|
|Publication status||Published - 20 Oct 2013|