Abstract:Forward Kinematic simulation of a 6 DOF surgical robot tracking a path through the constraint of the Remote Center of Motion point (RCM) is developed in this paper. Theoretical calculations of the forward kinematics are analyzed by solving the configuration kinematic equations of the robot. CAD prototype of the surgical robot and the patient are created using CATIA5 part and assembly tools. The theoretical results are validated through a Kinematic simulation of CATIA kinematics. The simulation results confirm … Show more
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