The applications of robotics in medical field have increased extensively in the last two decades. This paper aims at studing the effect of trajectory planning method on dynamic response of six degrees of freedom micro-robot intended for surgery applications. The kinematic equations of motion were obtained using Denavit-Hartemberg representation. The dynamic equations of motion, which are important for the proper design of robot controller, were first derived using the Lagrangian-Euler technique. Then the required hub torque to move each joint was calculated for the motor selection. The trajectory planning was derived using two different methods of trajectory planning. These methods are the fifth-order polynomial and soft motion trajectory planning. A comparison of the dynamic response was carried out to choose the best method that gives the smooth set trajectory planning and best performance of the robot under investigation. The simulation results were obtained using MATLAB software.
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