Kinematic Analysis of the Raven-II(tm) Research Surgical Robot Platform
Kinematic Analysis of the Raven-II(tm) Research Surgical Robot Platform
复制标题
Raven-II(tm) 研究型手术机器人平台的运动学分析
DOI：
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发表时间：
2012
期刊：
影响因子：
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通讯作者：
Ji Ma
中科院分区：
文献类型：
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作者：
H. King;Sina Nia Kosari;B. Hannaford;Ji Ma
详细的运动学分析的乌鸦-II（TM）手术机器人研究平台，统一以前的方法。提出了一种标准化的链路帧分配方法。左臂和右臂有不同的框架指定和运动学参数，但器械只有一组。正、逆运动学分析。当存在偏移值（a3）时，需要逆运动学的数值解。对于a3=0的情形给出了一个封闭形式的解。
A detailed kinematic analysis of the Raven-II(TM) surgical robotics research platform is presented which unifies previous approaches. A standardized link frame assignment methodology is presented. There are different frame assignments and kinematic parameters for the left and right arms, but a single set for the instruments. Forward and inverse kinematic analyses are presented. An offset value (a3), when present, requires a numerical solution of the inverse kinematics. A closed form solution is presented for the a3=0 case.