A geometric approach for inverse kinematics of a 4-link redundant In-Vivo robot for biopsy.
L. SardanaMihir Kumar SutarPushparaj Mani PathakPublished in: Robotics Auton. Syst. (2013)
Keyphrases
- inverse kinematics
- robot manipulators
- robot arm
- end effector
- position and orientation
- motion planning
- hand eye coordination
- joint angles
- pose estimation
- particle swarm optimization
- path planning
- control scheme
- experimental data
- real robot
- vision system
- object recognition
- three dimensional
- tissue deformation
- real time