Eye-RHAS manipulator: From kinematics to trajectory control

One of the challenging issues in the robotic technology is to use robotics arm for surgeries, especially in eye operations. Among the recently developed mechanisms for this purpose, there exists a robot, called Eye-RHAS, that presents sustainable precision in vitreo-retinal eye surgeries. In this work the closed-form dynamical model of this robot has been derived by Gibbs-Appell method. Furthermore, this formulation is verified through SimMechanics Toolbox of MATLAB. Finally, the robot is simulated in a real time trajectory control in a teleoperation scheme. The tracking errors show the effectiveness and applicability of the dynamic formulation to be used in the teleoperation schemes.