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The haptic device is the key facility in the master-slave minimally invasive surgery system, a gravitycompensation algorithm is proposed for this device. The structure of this device mentioned in this paper is a combination of serial and parallel structure, and it has 6 degrees of freedom. 3 motors are installed at 3 active joints respectively. In order to establish the dynamic equation of the haptic device, the device is simplified and the torque which is used to compensate the gravity is calculated by the principle of virtual work (Codourey A, 1998). Then the whole process of gravity-compensation is simulated under the environment of a dynamic software. After the comparison between the theoretical model and the simulation result, errors are shown and compensated through BP neural network, the performance of the gravity-compensation is improved.

A Gravity-Compensation Algorithm for the Haptic Device Based on the Principle of Virtual Work and BP Neural Network