Transcription of A Precise Positioning Method for a Puncture Robot Based on ...
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A Precise Positioning Method for a Puncture Robot Based on ...
Applied sciencesArticleA Precise Positioning Method for a Puncture RobotBased on a PSO-Optimized BP NeuralNetwork AlgorithmGuanwu Jiang1,2,3,4,*ID, Minzhou Luo1,2,4,*, Keqiang Bai1,3,* and Saixuan Chen1,2,41 The Department of Automation, University of Science and Technology of China, Hefei 230026, Laboratory of Special Robot Technology of Jiangsu Province, Hohai University,Changzhou 213000, China3 School of Information Engineering, Southwest University of Science and Technology,Mianyang 621010, China4 Institute of Intelligent Manufacturing Technology, Jiangsu Industrial Technology Research Institute,Nanjing 211800, China*Correspondence: ( ); ( ); ( );Tel.: +86-181-8177-0661 ( ); +86-186-6118-1682 ( ); +86-159-8365-8733 ( )Received: 18 July 2017; Accepted: 18 September 2017; Published: 21 September 2017 Abstract:The problem of inverse kinematics is fundamental in Robot control. Many traditionalinverse kinematics solutions, such as geometry, iteration, and algebraic methods, are inadequatein high-speed solutions and accurate Positioning .
the operation of the mechanical arm to perform puncture surgery on the patient, to achieve minimal invasiveness, accuracy, efficiency, and stability. The most important problem of the serial robot, which is the solution of the kinematics of the
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