A geometric approach for inverse kinematics of a 4-link redundant In-Vivo robot for biopsy
A geometric approach for inverse kinematic solutions of redundant manipulators. A model for a 4-link redundant manipulator of an In-Vivo biopsy robot was developed. Simulations were carried out in MATLAB using the developed approach. Experiments were conducted on a 4 scaled model of the In-Vivo robot. Simulation results were validated against the experimental results.
inverse kinematics in-vivo robot redundant manipulators geometrical method