Biomedical Engineering Reference
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Fig. 7.4 Extended robot server for advanced hand-assisted positioning. The robot server
interface starts and terminates the hand-assisted positioning method that runs in an additional
task. It is important that either the robot server or the hand-assisted positioning method can have
an active robot control to move the robot. The FTA sensor is directly connected to the robot
controller via a serial communication interface
Beside providing the FTA sensor data to the client, the extended robot server
also forwards the parameters sent to the FTA sensor, e.g. calibrated tool param-
eters or changed security thresholds. In such a manner, we can use the force/torque
readings from the FTA sensor for the contact pressure control in the TMS software
as described in Sect. 5.2.3 .
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