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- W2377428852 abstract "Objective To study the performance of minimally invasive surgical robot, and to propose a robot motion simulation method based on D-H methodology. Methods By analyzing the geometric relationship of each robot joints, DH model was built for the robot analysis of forward kinematics and inverse kinematics. At last, Sim Mechanics module was used for the robot electromechanical system modeling and simulation. Results The desired trajectory of the actuator was consistent with the actual trajectory. With the actual motion errors within the acceptable range, the correctness of D-H model was well verified. Conclusion Using D-H methodology for the robot kinematics study and simulation is useful and proper which has universal significance for the sophisticated design and system improvement of surgical robot." @default.
- W2377428852 created "2016-06-24" @default.
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- W2377428852 date "2014-01-01" @default.
- W2377428852 modified "2023-09-26" @default.
- W2377428852 title "Research on kinematic simulation of minimally invasive surgical robot based on D-H methodology" @default.
- W2377428852 hasPublicationYear "2014" @default.
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