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Inverse Kinematics Control Methods for Redundant Snakelike Robot Teleoperation During Minimally Invasive Surgery.

Pierre Berthet-RayneKonrad LeibrandtGauthier GrasPhilippe FraisseAndré CrosnierGuang-Zhong Yang
Published in: IEEE Robotics Autom. Lett. (2018)
Keyphrases
  • inverse kinematics
  • end effector
  • robot manipulators
  • robot arm
  • degrees of freedom
  • position and orientation
  • visual servoing
  • real time
  • vision system
  • augmented reality
  • motion planning
  • control strategies
  • robot control