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並前往https://www.researchgate.net/publication/336201004_Kinematic_Model_and_Real-Time_Path_Generator_for_a_Wire-Driven_Surgical_Robot_Arm_with_Articulated_Joint_Structure

(PDF) Kinematic Model and Real-Time Path Generator for a ...

PDF | This paper presents a forward kinematic model of a wire-driven surgical robot arm with an articulated joint structure and path generation.

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