A study on the interpolation algorithm for the serial-parallel robot-controlled HIFU
Yu, D.-y.; Luo, F.; Fan, L.-z.
Zhongguo Yi Liao Qi Xie Za Zhi 30(4): 241-244
2006
ISSN/ISBN: 1671-7104 PMID: 17039926 Document Number: 600674
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.
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