2019
Manipulability Optimization Control of a Serial Redundant Robot for Robot-assisted Minimally Invasive Surgery
ICRA 2019poster
This paper proposes a manipulability optimization control of a 7-DoF robot manipulator for Robot-Assisted Minimally Invasive Surgery (RAMIS), which at the same time guarantees a Remote Center of Motion (RCM). The first degree of redundancy of the manipulator is used to achieve an RCM constraint, the…