Real time evaluation of inverse kinematics for a 3-RPS medical parallel robot usind dSpace platform

Abstract

The paper addresses the analysis of three methods for inverse kinematics of a 3-DOF medical parallel robot with R-P-S (Revolute-Prismatic-Spherical) joint structure using MATLAB/Simulink and dSpace platform. The three methods were implemented in MATLAB/Simulink and than exported to dSpace realtime development platform. A comparation between the times of these three methods has been studyed. The scope of this paper is to illustrate which method is a suitable one in a realtime medical applications.