Improving Motion Planning for Surgical Robot with Active Constraints
Hang Su,Yingbai Hu,Jiehao Li,Jing Guo,Yuan Liu,Mengyao Li,Alois Knoll,Giancarlo Ferrigno,Elena De Momi,Hang Su,Yingbai Hu,Jiehao Li,Jing Guo,Yuan Liu,Mengyao Li,Alois Knoll,Giancarlo Ferrigno,Elena De Momi
In this paper, an improved motion planning scheme is proposed for surgical robot control with multiple active constraints, including joint constraints, joint velocity constraints and remote center of motion constraints. It introduces an improved recurrent neural network (RNN) to optimize the online motion planning respect to multiple constraints. The demonstrated surgical operation trajectory is d...
