Non-iterative geometric approach for inverse kinematics of redundant lead-module in a radiosurgical snake-like robot

Non-iterative geometric approach for inverse kinematics of redundant lead-module in a radiosurgical snake-like robot

Abstract Background Snake-like robot is an emerging form of serial-link manipulator with the morphologic design of biological snakes. The redundant robot can be used to assist medical experts in accessing internal organs with minimal or no invasion. Several snake-like robotic designs have been propo...

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Bibliographic Details
Main Authors: Olatunji Mumini Omisore, Shipeng Han, Lingxue Ren, Nannan Zhang, Kamen Ivanov, Ahmed Elazab, Lei Wang
Format: Article
Language:English
Published: BMC 2017-08-01
Series:BioMedical Engineering OnLine
Subjects:
Medical robotics
Inverse kinematics
Geometric method
Serial link manipulator
Modular snake robots
Joint angles
Online Access:http://link.springer.com/article/10.1186/s12938-017-0383-2

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http://link.springer.com/article/10.1186/s12938-017-0383-2

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