Freeing the Serial Mechanism Designer from Inverse Kinematic Solvability Constraints
This paper presents a fast numerical solution for the inverse kinematics of a serial manipulator. The method is implemented on the C-arm, a manipulator designed for use in robotic surgery. The inverse kinematics solution provides all possible solutions for any six degree-of-freedom serial manipulato...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2010-01-01
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| Series: | Applied Bionics and Biomechanics |
| Online Access: | http://dx.doi.org/10.1080/11762322.2010.503109 |
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