Kinematic Design Optimization of an Actuated Carrier for the DLR Multi-Arm Surgical System

Rainer Konietschke, Tobias Ortmaier, Ulrich Hagn, Gerd Hirzinger, Silvia Frumento. Kinematic Design Optimization of an Actuated Carrier for the DLR Multi-Arm Surgical System. In 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006, October 9-15, 2006, Beijing, China. pages 4381-4387, IEEE, 2006. [doi]

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