Research on Collision Avoidance Control of Multi-Arm Medical Robot Based on C-Space
A multi-arm robot for mandible reconstruction assisted surgery is developed. It has three manipulators and eighteen degrees of freedom. In order to prevent the collision of the manipulator caused by the overlap of the motion space of the manipulator during the space positioning of the whole mandible...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2020-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/9093029/ |