The slave arm is moved by the direct teach motion in only one direction to the desired angles of the 4th and 5th axes.
Direct teach motion is achieved by compensation control of coulomb and viscous friction of each joint and the weight torque of the 2nd and 3rd axes.
"There are probably some people who think... if you can teach classical mechanics to physics students, you should be able to teach motion at a lower level," Schwarz says.
The tool center point, which is the teaching forceps tip, is led to the entry point on the patient body by the master slave motion, jog motion, or direct teach motion.
Therefore, in the trocar mode, the 4th and 5th axes are controlled by conventional position control, whereas the 1st, 2nd, and 3rd axes are controlled by the direct teach motion.
In the case of the direct teach motion, the slave arm is moved by the operator's hands to drive the robot arm joint from the output side without using a human-machine interface such as the master arm or a teaching pendant.
Using this framework, users can teach motions directly to the robot through operating 3D robot model.
Figure 9 shows 3 types of posture adjustment motions by point-to-point, jog, and direct teach motions using the 4th and 5th axes from the same start positions.
In the case of posture adjustment by teaching playback motion, all joints of the slave arm are moved.
The vision layer involves preprocessing image data, extracting pin image features by locally linear embedding (LLE), and setting parameters for teaching insertion motions to the robot arm.
