Hierarchical optimization Control of Redundant Manipulator for Robot-assisted Minimally Invasive Surgery
Yingbai Hu,Hang Su,Guang Chen,Giancarlo Ferrigno,Elena De Momi,Alois Knoll,Yingbai Hu,Hang Su,Guang Chen,Giancarlo Ferrigno,Elena De Momi,Alois Knoll
For the time varying optimization problem, the tracking error cannot converge to zero at the finite time because of the optimal solution changing over time. This paper proposes a novel varying parameter recurrent neural network (VPRNN) based hierarchical optimization of a 7-DoF surgical manipulator for Robot-Assisted Minimally Invasive Surgery (RAMIS), which guarantees task tracking, Remote Center...
