Pierre Vieyres — accepted AI-conference papers

2017

A new kinematic formulation of the RCM constraint for redundant torque-controlled robots

Juan Sandoval, Gérard Poisson, Pierre Vieyres

IROS 2017poster

In this paper, we provide a new generalized kinematic formulation of the Remote Center of Motion (RCM) constraint for serial robotic arms to be useful for implementation in torque-controlled robots. A minimally invasive surgery assisted by a serial robot could be used for inserting a surgical tool t…

Cited by 53 Source ↗Scholar ↗

2016

Improved dynamic formulation for decoupled cartesian admittance control and RCM constraint

Juan Sebastián Sandoval Arévalo, Gérard Poisson, Pierre Vieyres

ICRA 2016

In this paper, we present a dynamically consistent control approach for manipulators with Cartesian Admittance Control (CAC) while guaranteeing a Remote Center of Motion (RCM) constraint. The dynamically consistent extended formulation was used in order to achieve a dynamically decoupled redundancy

Cited by 21 Source ↗Scholar ↗