Manipulability maximization in constrained inverse kinematics of surgical robots.

Jacinto Colan Ana Davila Yasuhisa Hasegawa

Published in: CoRR (2024)

Keyphrases

inverse kinematics
robot arm
motion planning
robot manipulators
position and orientation
multi robot
mobile robot
end effector
humanoid robot
robot control
autonomous robots
objective function
robotic systems
real robot
joint angles
reinforcement learning
minimally invasive
intraoperative
viewpoint