Manipulability-Oriented Configuration Transition Control of Continuum Surgical Manipulators Based on Velocity Polytopes
2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)（2021）
关键词
resolved motion rate control,configuration transition framework,partially inserted configurations,manipulability measure,constrained velocity polytopes,configuration variable limits,configuration variable rates,continuum manipulator,higher manipulability,previous configuration transition control,manipulability-oriented configuration transition control,continuum surgical manipulator,surgical applications,surgical operations,inserted portion,configuration transition control framework
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