Constrained Cartesian motion control for teleoperated surgical robots.
Janez FundaRussell H. TaylorBen EldridgeStephen H. GomoryKreg GrubenPublished in: IEEE Trans. Robotics Autom. (1996)
Keyphrases
- motion control
- mobile robot
- minimally invasive surgery
- robot control
- autonomous robots
- control system
- physical constraints
- autonomous navigation
- visual servoing
- robot assisted
- robotic arm
- real robot
- control algorithm
- visual feedback
- intraoperative
- haptic device
- degrees of freedom
- kinematic model
- multi robot
- path planning
- dynamic environments
- computer vision
- minimally invasive
- control scheme
- reinforcement learning
- force feedback
- three dimensional