Geometric Algebra Based Kinematics Model and Singularity of a Hybrid Surgical Robot

Abstract

The paper presents a kinematics modelling and singularity analysis of a novel hybrid robot using geometric algebra. The introduced hybrid robot is designed for minimally invasive surgery (MIS). The geometric condition for singularity and the instantaneous uncontrollable motion in a singular configuration are derived in the geometric algebra terms. The singularities within the workspace are graphically presented. Avoiding the singularities of the medical parallel robots is important for the surgical manipulation success and the patient’s safety.