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Model Predictive Control for a Tendon-Driven Surgical Robot with Safety Constraints in Kinematics and Dynamics.

Francesco CursiValerio ModugnoPetar Kormushev
Published in: IROS (2020)
Keyphrases
  • model predictive control
  • predictive control
  • control system
  • end effector
  • real time
  • minimally invasive surgery
  • surgical robot
  • fuzzy sets
  • intelligent systems
  • mathematical model
  • dynamical systems
  • robot assisted