Minimum sweeping area motion planning for flexible serpentine surgical manipulator with kinematic constraints.
Yanjie ChenZheng LiWenjun XuYaonan WangHongliang RenPublished in: IROS (2015)
Keyphrases
- 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