What is the minimum value of the system?

摘要

The military medical system is computed as a minimum of a manipulator (10) consisting of a robot arm.The bracket has a processing unit (subunit) action (12) mounted with a sensor, six degrees of freedom of force/torque;And design tools to make a minimally invasive instrument (14) have the first edge (16) and mount the element in action The second end (20) is located at an external fulcrum (23), which restricts the use of vehicles, usually 4 degrees of freedom (4 degrees of freedom).The method consists of the following steps: determining a force/torque sensor whose position is relative to the fulcrum tool and measuring the force/torque through a six-stage epsilon lambda______96 Let us, force and moment acting on the first end organ of the unit, and calculate it by superposition principle (or "superposition");A mechanism for estimating the position of the second end of the applied force according to the measured strength and torque.