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Non-iterative geometric approach for inverse kinematics of redundant lead-module in a radiosurgical snake-like robot

BACKGROUND: Snake-like robot is an emerging form of serial-link manipulator with the morphologic design of biological snakes. The redundant robot can be used to assist medical experts in accessing internal organs with minimal or no invasion. Several snake-like robotic designs have been proposed for...

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Detalles Bibliográficos
Autores principales:	Omisore, Olatunji Mumini, Han, Shipeng, Ren, Lingxue, Zhang, Nannan, Ivanov, Kamen, Elazab, Ahmed, Wang, Lei
Formato:	Online Artículo Texto
Lenguaje:	English
Publicado:	BioMed Central 2017
Materias:	Research
Acceso en línea:	https://www.ncbi.nlm.nih.gov/pmc/articles/PMC5540246/ https://www.ncbi.nlm.nih.gov/pubmed/28764713 http://dx.doi.org/10.1186/s12938-017-0383-2

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