Kinematic Computation Of X Radial Photography In Medical System

Manipulator motion planning, which is one of the most important problems for robotics belongs to the scope of path planning. This thesis presents the methodology and algorithm for collision checking and interference space for robots under coordinative operation through studying configuration space. The reachable manifold is an image space that the C-arm can reach and the contact manifold is an image space that the C-arm contacts the tracheal bad. The intersection of these image spaces is the C-space boundary and settles collision problem in C-arm and tracheal bad.This thesis mainly includes two parts: the first part is about the theory and method, including chapter 2, chapter 3 and chapter 5, among which chapter 3 is key chapters; The second part is the experimentation with programming, including chapter 5. In chapter 1 of this thesis, it introduces some basic knowledge on path planning problems. The C-space algorithm is introduced as one of the algorithms in common use in path planning problems. Chapter 2 introduces conception of image space and constructs the robot C-space obstacle boundary based on the reachable manifold and the contact manifold. And it then presents the algorithm of the robot real time collision free motion plan. Motion analysis of C-arm and tracheal bad are analyzed separately in chapter 3. Chapter 4 gives motion planning of C-arm and tracheal bad and establish the C-space boundary. Chapter 5 applies the theories and methods in programming by using MATLAB. Lastly, the conclusion and prospect of the work are given.