A passive convex optimal control algorithm for teleoperating a redundant robotic arm in minimally invasive surgery
N Piccinelli, G Colombo‐Taccani… - International Journal of …, 2024 - Wiley Online Library
In recent years, the remote center of motion (RCM) constraint has moved from purely
mechanical to software implementation, enabling the use of serial manipulators in robotic …
mechanical to software implementation, enabling the use of serial manipulators in robotic …
Adaptive Robust Model Predictive Control for Bilateral Teleoperation
In this work, we use recent developments in the field of adaptive robust Model Predictive
Control (MPC) to build a controller for bilateral teleoperation systems. To guarantee robust …
Control (MPC) to build a controller for bilateral teleoperation systems. To guarantee robust …
Interaction Force Constraints for Position-Controlled Manipulator Using Linear MPC
The control of the interaction force between the environment and the manipulator in safety-
critical scenarios, like surgery, search-and-rescue or industrial plant maintenance, can …
critical scenarios, like surgery, search-and-rescue or industrial plant maintenance, can …