Geometric optimization of manipulator structures for working volume and dexterity.
R. VijaykumarM. TsaiKenneth J. WaldronPublished in: ICRA (1985)
Keyphrases
- laparoscopic surgery
- optimization problems
- degrees of freedom
- end effector
- hand eye coordination
- path planning
- optimization process
- geometric structure
- geometric features
- computer assisted
- optimization method
- robot assisted
- inverse kinematics
- constrained optimization
- visual feedback
- discrete optimization
- image sequences
- control system
- objective function