Research on Modeling and Compensation of Generalized Kinematic Error of RCM Manipulators for Minimally Invasive Surgery Robots
There is a safety issue for geometric and non-geometric errors that lead to remote center of motion (RCM) constraint point position errors during the movement of the RCM manipulator. A generalized kinematic error modeling and compensation method is proposed for the RCM manipulator of minimally invas...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2024-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails?columnId=61338798&Fpath=home&index=0 |
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