title: [A study on the interpolation algorithm for the serial-parallel robot-controlled HIFU].
abstract: According to the hardware characters of the high intensive focused ultrasound (HIFU) serial-parallel robots, this paper presents an algorithm of 2-grade interpolation scheme which includes the rough and fine interpolations. Both pre-acceleration and post-acceleration are employed to meet the restrictive requirements of coordinated dynamic performance and the detailed procedure of the interpolation algorithm is given too.
authors.affiliation: Mechanical College, Huazhong University of Science and Technology, Wuhan, 430074. d-y-yu@163.com
authors.forename: Dao-yuan
authors.initials: DY
authors.lastname: Yu
authors.forename: Fei
authors.initials: F
authors.lastname: Luo
authors.forename: Liang-zhi
authors.initials: LZ
authors.lastname: Fan
mesh_terms: D000465:Algorithms; D001185:Artificial Intelligence; D003198:Computer Simulation; D004867:Equipment Design; D006801:Humans; D012371:Robotics; D036761:Ultrasound, High-Intensity Focused, Transrectal / Q000295:instrumentation* / Q000379:methods