Design and development of motion generators for controlling the robotic systems with a constant tool insertion point
Izvestiâ vysših učebnyh zavedenij(2023)
Abstract
The paper considers problems in design and development of motion generators for the robotics spatial mechanisms. Advantages and disadvantages of different arrangements of the motion generators from the point of view of controlling mechanisms with the constant tool insertion point are noted. The prospects for development of the control principles and designs of the motion generators in the robot-assisted surgery are highlighted.
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Key words
motion generators,robotic systems,tool
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