Dynamic analysis with optimum trajectory planning of multiple degree-of-freedom surgical micro-robot
The present work aims to analyze kinematics and dynamics accompanied with an optimum trajectory planning, of a multiple degree-of-freedom positioning surgical micro-robot. The kinematic model was developed using Denavit–Hartenberg algorithm, while dynamic model was developed using Lagrange technique...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Elsevier
2018-12-01
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| Series: | Alexandria Engineering Journal |
| Online Access: | http://www.sciencedirect.com/science/article/pii/S1110016818302047 |