Closed-form forward and inverse position, velocity and acceleration kinematics problems solutions are developed for a redundant medical robot family. Developed solutions allow one to choose a specific joint as a set one. Solutions work in constant time, suitable for real-time operation. Methods for joint limit and singularity avoidance are proposed. Simulation experiments are performed on simulated KUKA MED 14 r820 robot.
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Prokhorenko et al. (2024) studied this question.
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