Dynamic-based RCM Torque Controller for Robotic-Assisted Minimally Invasive Surgery
Marco Minelli,Cristian Secchi,Marco Minelli,Cristian Secchi
In this paper we propose a novel flexible and optimization-free controller for standard torque-controlled manipulator for Robotic-Assisted Minimally Invasive Surgery. A novel method has been developed to model the constraint introduced by the laparoscopic tool, i.e. the remote center of motion, exploiting closed chain manipulators theory, and the final controller was synthesized considering the ef...
