3D Modeling and Closed-Form Inverse Kinematics Solution for 6dof Surgical Robot

Edris Farah; Shao Gang Liu

doi:10.4028/www.scientific.net/AMM.455.533

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 4553D Modeling and Closed-Form Inverse Kinematics...

3D Modeling and Closed-Form Inverse Kinematics Solution for 6dof Surgical Robot

Abstract:

Since robots began to inter the medical fields, more research efforts and more attention have been given to this kind of robots. In this paper six degrees of freedom surgical robot was studied. The Denavit-Hartenberg parameters of the robot have been computed and 3D model has been built by using open source robotics toolbox. The paper also discussed a closed form solution for the inverse kinematics problem by using inverse kinematic decoupling method.

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Periodical:

Applied Mechanics and Materials (Volume 455)

Pages:

533-538

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.455.533

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Online since:

November 2013

Authors:

Edris Farah*, Shao Gang Liu

Keywords:

3D Model, D-H Parameters, Inverse Kinematics, Kinematic Decoupling, Surgical Robot

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* - Corresponding Author

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