In breast cancer research, there are multiple robots developed to help with the biopsy. For this assignment the focus is on the Sunram 5, which is developed at the RAM research group of the University of Twente.
This robot needs a kinematic model, which consists of forward as well as inverse kinematics, to make the control of the robot easier to develop. The forward kinematics is done using homogeneous transformation matrices, which makes the derivation straightforward and easy to do. The inverse kinematics is not as straightforward as the forward kinematics, because the inverse kinematics has no unique solution. The inverse kinematics uses equations to get from input coordinates to output q vector (number of translation and/or rotation each stepper motor has to make).
The results of the tests of the above described kinematic parts are the following: Although there is always a small error between input and output position, the derived and implemented kinematic model with corresponding app passes every verification. This error is due to the discretization effect and the frame constraints. The overall findings are that the kinematic model does its job sufficiently well.
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