[A study on the interpolation algorithm for the serial-parallel robot-controlled HIFU].
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.
Yu
Dao-yuan
DY
Mechanical College, Huazhong University of Science and Technology, Wuhan, 430074. d-y-yu@163.com
Luo
Fei
F
Fan
Liang-zhi
LZ
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