Three-Degrees-of-Freedom Passive Gravity Compensation Mechanism Applicable to Robotic Arm With Remote Center of Motion for Minimally Invasive Surgery.
Chang-Kyun KimDeok Gyoon ChungMinho HwangByungsik CheonHansoul KimJoonhwan KimDong-Soo KwonPublished in: IEEE Robotics Autom. Lett. (2019)
Keyphrases
- degrees of freedom
- minimally invasive surgery
- robotic arm
- motion planning
- end effector
- motion tracking
- configuration space
- joint angles
- pose estimation
- path planning
- human hand
- robot arm
- motion analysis
- inverse kinematics
- collision free
- human motion
- space time
- motion estimation
- image sequences
- real time
- motion capture
- camera motion
- dynamic environments