Model Predictive Control for a Tendon-Driven Surgical Robot with Safety Constraints in Kinematics and Dynamics
Francesco Cursi,Valerio Modugno,Petar Kormushev,Francesco Cursi,Valerio Modugno,Petar Kormushev
In fields such as minimally invasive surgery, effective control strategies are needed to guarantee safety and accuracy of the surgical task. Mechanical designs and actuation schemes have inevitable limitations such as backlash and joint limits. Moreover, surgical robots need to operate in narrow pathways, which may give rise to additional environmental constraints. Therefore, the control strategie...
