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Development of manipulator including exchange-type multi-articulated end-effector for single port surgical robot.
Sung M. Seung
Hong S. Choi
Woo Y. Kim
Seong Y. Ko
Jong O. Park
Suk H. Park
Published in:
ROBIO (2011)
Keyphrases
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end effector
degrees of freedom
surgical robot
inverse kinematics
vision system
robot arm
robot manipulators
visual servoing
minimally invasive surgery
robotic arm
force feedback
control law
real time
motion planning
pose estimation
position and orientation
configuration space
humanoid robot
three dimensional