| Article ID | Journal | Published Year | Pages | File Type |
|---|---|---|---|---|
| 7235129 | IRBM | 2018 | 7 Pages |
Abstract
- A generalized Framework for RA-MIS using serial redundant robots is proposed.
- A strict priority torque-controller allows to simultaneously execute the tasks.
- Performance of the surgical task is preserved during contact with the robot's body.
Keywords
Related Topics
Physical Sciences and Engineering
Engineering
Biomedical Engineering
Authors
J. Sandoval, P. Vieyres, G. Poisson,