All singularities of the 9-DOF DLR medical robot setup for minimally invasive applications

DOI10.1007/978-1-4020-4941-5_21MaRDI QIDQ3196229zbMATH OpenOpenAlexFDO

Authors Rainer Konietschke, Gerd Hirzinger, Yuling Yan

Publication date 29 October 2015

Published in Advances in Robot Kinematics (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1007/978-1-4020-4941-5_21

zbMATH Keywords

optimizationsingularitiesmanipulabilitymedical roboticsrobot designminimally invasive surgeryrobotic assistance

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Robot dynamics and control of rigid bodies (70E60) Biomechanics (92C10)

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