Modulated potential field using 5 DoF implant assist robot for position and angle adjustment

The basic structure and null space analysis of 5 DoF implant assist robot for position and angle adjustment is conducted in this paper. The problem of position control using the inverse matrix is the singular postures that make the system unstable. In this paper, the modulated potential field is also extended to 5 DoF robot manipulator for both position adjustment and angle adjustment. It is proposed to achieve the three requirement performances for teaching the information of «where to start cutting». That is 1) Physician can Free moving the manipulator when far from the destination. 2) The manipulator will apply adjusting force for easy converge to the destination when close in the destination. 3) The manipulator will apply adjusting force for collision avoidance when over the destination. The validity of the analysis results of modulated potential field for 5 DoF manipulator was confirmed by the simulation and experiment.