Solving the Time-Varying Inverse Kinematics Problem for the Da Vinci Surgical Robot

Solving the Time-Varying Inverse Kinematics Problem for the Da Vinci Surgical Robot

A dialytic-elimination and Newton-iteration based quasi-analytic inverse kinematics approach is proposed for the 6 degree of freedom (DOF) active slave manipulator in the Da Vinci surgical robot and other similar systems. First, the transformation matrix-based inverse kinematics model is derived; th...

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Bibliographic Details
Main Authors: Long Bai, Jianxing Yang, Xiaohong Chen, Pei Jiang, Fuqiang Liu, Fan Zheng, Yuanxi Sun
Format: Article
Language:English
Published: MDPI AG 2019-02-01
Series:Applied Sciences
Subjects:
minimally invasive surgery robot
inverse kinematics
dialytic elimination
Newton iteration
Online Access:https://www.mdpi.com/2076-3417/9/3/546

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