...Tao Song; Bo Pan; Guojun Niu; Yili Fu Purpose This study aims to represent a novel closed-form solutions method based on the product of the exponential model to solve the inverse kinematics of a robotic manipulator. In addition, this method is applied to master–slave control of the minimally...

... and projects the laser beam on the work plane. Nonlinear constraints governing the relationships of the geometrical parameters and measurement data are derived. The uniqueness of the solution is guaranteed when the camera is calibrated in advance. As a result, a decoupled multi‐stage closed‐form solution can...