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	Adaptation of Translated Frame-Based Approach for Forward Kinematics of Snake-Like Robots
	Zhi Cun Zhao; Ling Xue Ren; Shi Peng Han; Olatunji Mumini Omisore; Lei Wang
	2018
会议日期	2018
会议地点	美国檀香山
英文摘要	Snake-like robots are a typical serial-link manipulator newly adopted to assist human experts during medical procedures. Of the several prototypes that have been proposed for surgical repair of abdominal organs and delivery of radiation doses, only a very few attained FDA clearance and commercialization for clinical usage. This can be ascribed to complexities inherent with teleoperation of the redundant robots when controlled via single-ports or interactions with other organs both along the surgical path and the operation area. In this study, translated frame-based approach is adapted for forward kinematics of snake-like robots that have orthogonal joints. This is realized by modifying the conventional standard DH approach commonly used for frame translation in serial robots. The adapted method is validated with model of a newly proposed radiosurgical snake-like robot. Validation results show that adapted method requires reduced execution times for both workspace generation and inverse kinematics of the snake robot.
URL标识	查看原文
内容类型	会议论文
源URL	[http://ir.siat.ac.cn:8080/handle/172644/14502]
专题	深圳先进技术研究院_医工所
推荐引用方式 GB/T 7714	Zhi Cun Zhao,Ling Xue Ren,Shi Peng Han,et al. Adaptation of Translated Frame-Based Approach for Forward Kinematics of Snake-Like Robots[C]. 见:. 美国檀香山. 2018.

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