Kinematic control of redundant arms based on the virtual incision ports for robotic single-port access surgery.
Junwon JangHyundo ChoiHyung-Joo KimHo-Seong KwakPublished in: ICRA (2014)
Keyphrases
- force feedback
- robotic arm
- robotic systems
- degrees of freedom
- computer assisted
- end effector
- access control
- control system
- hand eye
- robot control
- wheeled mobile robots
- real time
- dynamic allocation
- optimal control
- control method
- virtual reality
- virtual world
- autonomous robots
- path planning
- augmented reality
- robot motion
- control loop
- mechanical systems
- image registration