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Minimum sweeping area motion planning for flexible serpentine surgical manipulator with kinematic constraints.
Yanjie Chen
Zheng Li
Wenjun Xu
Yaonan Wang
Hongliang Ren
Published in:
IROS (2015)
Keyphrases
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motion planning
trajectory planning
kinematic constraints
degrees of freedom
inverse kinematics
minimally invasive surgery
path planning
robotic arm
robot manipulators
robot arm
laparoscopic surgery
mobile robot
end effector
obstacle avoidance
humanoid robot
motion tracking
multi robot
configuration space
collision free
robotic tasks
dynamic environments
pose estimation
dynamic model
human body
control system
spatio temporal