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	A Geometric Solution for Inverse Kinematics of Redundant Teleoperated Surgical Snake Robots
	Olatunji Mumini OMISORE; Shipeng HAN; Lingxue REN; Nannan ZHANG; Lei WANG
	2017
会议日期	2017
会议地点	Toronto
英文摘要	Pure analytical and numerical approaches are found undesirable for solving inverse kinematics of redundant robots. This is due to huge iterative procedures required to determine efficient joint configuration(s) for given target. In this paper, a new geometric method is presented for solving the inverse kinematics of snake robots ideal for real-time teleoperated surgery of internal organs. The method was applied to a 10-link redundant robotic model, capable of spatial navigation. Simulation result from the via-paths of circular track and human signature shows that the proposed method is fast and accurate in determining joint angles necessary to reach given target points with worst case mean error of ܠത=0.608±0.231mm.
语种	英语
内容类型	会议论文
源URL	[http://ir.siat.ac.cn:8080/handle/172644/12190]
专题	深圳先进技术研究院_医工所
作者单位	2017
推荐引用方式 GB/T 7714	Olatunji Mumini OMISORE,Shipeng HAN,Lingxue REN,et al. A Geometric Solution for Inverse Kinematics of Redundant Teleoperated Surgical Snake Robots[C]. 见:. Toronto. 2017.

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