FORWARD KINEMATIC SOLUTION FOR A HEXAPOD MANIPULATOR AND METHOD OF USE

摘要

The present disclosure provides methods, systems, and computer program product for treating a fractured bone (100) using a hexapod manipulator. The hexapod manipulator (10) has a first ring (12) and a second ring (14), with the first and second rings being connected by six telescopic struts (16). The method includes the steps of determining a current position of the second ring relative to the first ring; determining a desired position of the second ring relative to the first ring; and computing with a processing system (102) the difference between the current position and the desired position of the second ring relative to the first ring using a linear approach to a nonlinear problem.