Dynamic task / posture decoupling for minimally invasive surgery motions: Simulation results

2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Volumn 4, Issue , 2004, Pages 3625-3630

  Michelin, Micaël ^a   Poignet, Philippe ^a   Dombre, Etienne ^a  

^a LIRMM   (France)

Author keywords

Dynamic decoupling; Minimally invasive surgery; Redundant robot control

Indexed keywords

ACCELERATION; ALGORITHMS; COMPUTER SIMULATION; FORCE MEASUREMENT; SURGERY; VECTORS; VELOCITY MEASUREMENT;

DYNAMIC DECOUPLING; MINIMALLY INVASIVE SURGERY; OPEN-CHAIN MANIPULATORS; REDUNDANT ROBOT CONTROL;

ROBOTICS;

EID: 14044268865     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (13)

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13. M. Michelin, P. Poignet, E. Dombre, "Dynamic Task / Posture Decoupling for Minimally Invasive Surgery Motions" Proc. Int. Symp. on Experimental Robotics, ISER'04, Singapore, June 2004