This paper proposes a manipulability optimization control of a 7-DoF robot manipulator for Robot-Assisted Minimally Invasive Surgery (RAMIS), which at the same time guarantees a Remote Center of Motion (RCM). The first degree of redundancy of the manipulator is used to achieve an RCM constraint, the second one is adopted for manipulability optimization. A hierarchical operational space formulation is introduced to integrate all the control components, including a Cartesian compliance control involving the main surgical task, a first null-space controller for the RCM constraint, and a second null-space controller for manipulability optimization. Experiments with virtual surgical tasks, in an augmented reality environment, were performed to validate the proposed control strategy using the KUKA LWR4+. The results demonstrate that end-effector accuracy and RCM constraint can be guaranteed, along with improving the manipulability of the surgical tip.
Manipulability Optimization Control of a Serial Redundant Robot for Robot-assisted Minimally Invasive Surgery
2019-01-01
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
DDC: | 629 |
BASE | 2019
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