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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...
| Autores principales: | , , , |
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| Formato: | Online Artículo Texto |
| Lenguaje: | English |
| Publicado: |
MDPI
2021
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| Materias: | |
| 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 |