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...
Main Authors: | , , , , , , |
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Format: | Article |
Language: | English |
Published: |
BMC
2017-08-01
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Series: | BioMedical Engineering OnLine |
Subjects: | |
Online Access: | http://link.springer.com/article/10.1186/s12938-017-0383-2 |