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This paper proposes a neural network (NN)-based approach to solve the forward kinematics of a 3-RRR spherical parallel mechanism designed for a haptic device. The proposed algorithm aims to remarkably speed up computation to meet the requirement of highfrequency rendering for haptic display. To achieve high accuracy, the workspace of the haptic device is divided into smaller subspaces. The proposed...
The application accuracy is one of the most important specifications in robot-assisted stereotactic neurosurgery. This paper analyzed the application accuracy of a neurosurgical robot system and presented the details on how to improve it through improving the robot absolute positioning accuracy. Firstly the robot system was introduced briefly and the system error was analyzed. Secondly the robot was...
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