9自由度混联微创外科机器人的正反解研究
首发时间:2010-02-03
摘要:本文针对北京航空航天大学机器人研究所最新开发的用于冷冻穿刺手术的9自由度“5R+4T”混联机器人,基于指数积公式,利用反变换法和逆矩阵的特性,提出了一种在单约束条件下,得到该机器人解析形式正反解的新算法。通过数值算例验证了正反解的互推性,即算法的有效性,并提出了算法的修正方案。
For information in English, please click here
Forward and Inverse Solution of a 9-DOF Hybrid Robot for Minimally Invasive Surgery
Abstract:Aiming at the “5R+4T” 9-DOF hybrid robot newly developed by the Robotics Institute of Beihang University for percutaneous cryosurgery, a new single-constraint-condition algorithm was put forward to obtain analytic solutions to the forward and inverse kinematics of the robot, based on POE formula using inverse transformation method and characteristics of inverse matrix. The mutual derivation between the forward and the inverse solution (i.e., the effectiveness of the algorithm) was demonstrated by several sets of numeric data, and a modification for the algorithm was also advanced.
Keywords: minimally invasive surgery hybrid forward and inverse solution product of exponential
论文图表:
引用
No.3982451515212651****
同行评议
共计0人参与
勘误表
9自由度混联微创外科机器人的正反解研究
评论
全部评论0/1000