Freeing the Serial Mechanism Designer from Inverse Kinematic Solvability Constraints
نویسندگان
چکیده
منابع مشابه
Freeing the serial mechanism designer from inverse kinematic solvability constraints
This paper presents a fast numerical solution for the inverse kinematics of a serial manipulator. The method is implemented on the C-Arm, a manipulator designed for use in robotic surgery. The inverse kinematics solution provides all possible solutions for any six degree-of-freedom serial manipulator, assuming the forward kinematics are known and that it is possible to solve for the remaining j...
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ژورنال
عنوان ژورنال: Applied Bionics and Biomechanics
سال: 2010
ISSN: 1176-2322,1754-2103
DOI: 10.1155/2010/605978