Study on Gravity Compensation of RCM Mechanism of Slave Manipulator
In order to improve the positioning accuracy and motion stability of endoscopy surgery robot with remote motion center (RCM) of slave manipulator，the equivalent centroid position of the component is obtained by dynamic equivalence of slave manipulator，and the gravity compensation of the manipulator...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2021-06-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.06.014 |
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