计算机科学
机器人
路径(计算)
弹道
钻探
计算机视觉
演习
职位(财务)
控制(管理)
运动规划
控制理论(社会学)
人工智能
出处
期刊:한국생산제조학회지
[The Korean Society of Manufacturing Technology Engineers]
日期:2013-04-15
卷期号:22 (2): 256-262
被引量:2
标识
DOI:10.7735/ksmte.2013.22.2.256
摘要
This paper presents a linear path control algorithm for NeuroMate robot in a skull drilling system. For the path control inverse kinematics of the robot is analyzed and a linear interpolation algorithm is presented. A geometric approach is used for solving inverse kinematic equations for the robot. Four feasible solutions are found through the approach. The approach gives geometric insights for selecting the best solution from the feasible solutions. The presented linear interpolation algorithm computes a next position considering current velocity and remaining distance to the target position. Presented algorithm is implemented and tested in a skull drilling system.
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