An Improved Weighted Gradient Projection Method for Inverse Kinematics of Redundant Surgical Manipulators

Different from traditional redundant manipulators, the redundant manipulators used in the surgical environment require the end effector (EE) to have high pose (position and orientation) accuracy to ensure the smooth progress of the operation. When analyzing the inverse kinematics (IK) of traditional...

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Detalles Bibliográficos
Autores principales: Zhang, Xinglei, Fan, Binghui, Wang, Chuanjiang, Cheng, Xiaolin
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2021
Materias:
Article
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8588051/
https://www.ncbi.nlm.nih.gov/pubmed/34770667
http://dx.doi.org/10.3390/s21217362

Internet

https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8588051/
https://www.ncbi.nlm.nih.gov/pubmed/34770667
http://dx.doi.org/10.3390/s21217362

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