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�������պ����ѧѧ�� 2011, Vol. 37 Issue (4) :446-451    DOI:
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Forward and inverse solution of a 9-DOF hybrid robot for minimally invasive surgery
Zhang Fan, Liu Da, Wang Tianmiao*
School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100191, China

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Abstract�� Focusing on the recently developed "5R+4T" 9-DOF(degree-of-freedom) hybrid robot for thoracoabdominal percutaneous cryosurgery by the robotics institute of Beijing University of Aeronautics and Astronautics, an original single-constraint-condition algorithm was put forward to obtain analytic solutions to the forward and inverse kinematics of the robot, based on the product of exponentials (POE) formula using inverse transformation method and characteristics of inverse matrix. The mutual derivation between the forward and the inverse solution, namely, the effectiveness of the algorithm, was demonstrated by several sets of numeric data. A modification for the algorithm was also advanced by discussing the demonstration results, so as to expand the range of its applicability. This algorithm overcomes the difficulties in performing the forward and inverse kinematic calculations which result from the DOF redundancy and the structure complexity of the hybrid robot, bringing a new idea about solving kinematic problems of multi-DOF hybrid robots.
Keywords�� minimally invasive surgery   hybrid robot   forward and inverse solutions   product of exponentials(POE)     
Received 2010-01-26;
Fund:

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About author: �� ��(1983-),��,�ӱ�ʯ��ׯ��,˶ʿ��,kurtgre@gmail.com.
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�ŷ�, ����, ������.9���ɶȻ���΢����ƻ����˵�������[J]  �������պ����ѧѧ��, 2011,V37(4): 446-451
Zhang Fan, Liu Da, Wang Tianmiao.Forward and inverse solution of a 9-DOF hybrid robot for minimally invasive surgery[J]  JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 2011,V37(4): 446-451
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