First, a 5-dof brain surgery robot structure was developed. It used the D-H method to resolve the kinematics problems.

首先，研制了一种五自由度脑外科机器人结构，利用D—H方法计算了机器人运动学的正反解方程。

youdao

First, a 5-dof brain surgery robot structure was developed. It used the D-H method to resolve the kinematics problems.

首先，研制了一种五自由度脑外科机器人结构，利用D—H方法计算了机器人运动学的正反解方程。

youdao