L. Gonchar, D. Engel, J. Raczkowsky, H. Woern, N.I. Yussupova, G.R.Shakhmametova: Simulation for Path Planning and Motion Control for Medical Robot CSIT 2000 : 260-264
This paper illustrates using simulations in path planning and motion control for a medical robot with six degrees of freedom (DOF) in a given 3D-environment. The paper describes briefly the essential features of the developed system and its basic components, including its use for determining the optimum or near optimum configuration of the robot manipulator. Determining the configuration is based on the geometrical approach and provides high planning precision. The paper presents the simulation system and its use in robot motion planning.
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Heinz Schweppe and Yuri S. Kabalnov (Eds.): CSIT'2000, Proceedings of 2nd International Workshop on Computer Science and Information Technologies, September 18-23, 2000, Ufa, Russia. USATU Publishers & JurInfoR-MSU Publishing 2000, ISBN 5-86911-312-1