6DoF robot simulink diagram for simulation

6DoF robot simulink diagram for simulation

Simulink diagram that simulates a 6DoF manipulator that has been used in surgical robotics.
The diagram solves the constrained movements of a manipulator that holds a surgical instrument that is introduced inside the patient's abdomen using a trocar. In this situation, the movements are performed taking into account the insertion point (fulcrum). To solve this issue, a Jacobian based position control scheme has been used, which is able to generate the manipulator joint angles references to perform a movement taking into account a previously fixed fulcrum point. The obtained joint angles are then used to animate a 3D model (VRML) of the 6DoF manipulator. Morever, this 3D model allows to place the instrument tip at any orientation using Euler ZYZ angles or a rotation matrix.
The 3D model can also be used for teaching or research purposes, e.g. to calculate its kinematics.

The Jacobian based position control scheme has been presented in the paper:
Perez-del-Pulgar, C.J.; Munoz, V.F.; Velasco, J.J.; Gomez, R., "Parallel force-position control scheme with fuzzy gain tuning for single port laparoscopic surgery," in Control, Automation and Systems (ICCAS), 2013 13th International Conference on , vol., no., pp.101-106, 20-23 Oct. 2013.
doi: 10.1109/ICCAS.2013.6703871

Please, reference this paper if you use the model.

This work has been developed by the University of Malaga students:
Ana María Gómez Delgado
José Ricardo Sánchez Ibáñez
Ignacio Alzugaray López
Pedro Cervera Pedregosa
Juan José Velasco Manzanares