Accelerated Dual Neural Network Controller for Visual Servoing of Flexible Endoscopic Robot With Tracking Error, Joint Motion, and RCM Constraints
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DOI: 10.1109/tie.2021.3114674
Abstract: Aiming at the requirements for endoscope in minimally invasive surgery, a dual neural network (DNN) controller is designed for a flexible endoscopic robot (FER) with 10 DOF. First, the FER's kinematics model with remote center… read more here.
Keywords: neural network; rcm constraints; motion rcm; dual neural ... See more keywords