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This paper presents measures for manipulability and accuracy that are specifically adapted to the conditions found in robotically assisted minimally invasive surgery. The considered robot consists of 9 active joints, thus allowing for full manipulability at the tool tip as well as null-space motion. The presented manipulability and positioning accuracy measures are based on an “inverse Jacobian” approach...
In this paper five different optimization strategies for kinematically redundant mechanisms, i.e. mechanisms having additional actuator(s) in at least one kinematic chain, are presented. They are based on two main approaches, a discrete optimization and a classical continuous optimization. Exemplarily, a planar, kinematically redundant 3RRR-based mechanism is introduced. The position of its redundant...
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