Tracking control of redundant manipulator under active remote center-of-motion constraints: an RNN-based metaheuristic approach
Sign Up to like & getrecommendations! Published in 2021 at "Science China Information Sciences"
DOI: 10.1007/s11432-019-2735-6
Abstract: In this paper, we propose a recurrent neural network (RNN) for the tracking control of surgical robots while satisfying remote center-of-motion (RCM) constraints. RCM constraints enforce rules suggesting that the surgical tip should not go… read more here.
Keywords: control; rcm constraints; tracking control; remote center ... See more keywords
Accelerated Dual Neural Network Controller for Visual Servoing of Flexible Endoscopic Robot With Tracking Error, Joint Motion, and RCM Constraints
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Transactions on Industrial Electronics"
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