首页>
外国专利>
Method of constrained Cartesian control of robotic mechanisms with active and passive joints
Method of constrained Cartesian control of robotic mechanisms with active and passive joints
展开▼
机译:具有主动和被动关节的机器人机构的约束笛卡尔控制方法
展开▼
页面导航
摘要
著录项
相似文献
摘要
The present invention is a method of controlling a robotic mechanism comprising both active and passive joints, where the motion of one or more of the passive joints is constrained by one or more constraints imposed on the mechanism by the environment, the mechanical construction of the mechanism or the nature of the task. The method is capable of controlling mechanisms with multiple sets of passive joints with multiple environmental constraints restricting the motion of the mechanism. In a preferred embodiment the novel method is used to control a surgical robot holding a surgical instrument inserted into a patient through a natural or man-made orifice.
展开▼