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

DOI10.1007/978-1-4020-4941-5_21zbMATH Open1323.70032OpenAlexW107023796MaRDI QIDQ3196229FDOQ3196229

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

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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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