Motion planning for a multi-arm surgical robot using both sampling-based algorithms and motion primitives
The paper describes a motion planning and control software architecture developed for the automation of a surgical robot. The considered surgical robot is a dual-arm prototype developed with a redundant and modular mechanical structure, designed to be reconfigured for different surgical tasks, and w...
Uložené v:
| Vydané v: | 2015 IEEE RSJ International Conference on Intelligent Robots and Systems (IROS) s. 1422 - 1427 |
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| Hlavní autori: | , , , , |
| Médium: | Konferenčný príspevok.. |
| Jazyk: | English |
| Vydavateľské údaje: |
IEEE
01.09.2015
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| Shrnutí: | The paper describes a motion planning and control software architecture developed for the automation of a surgical robot. The considered surgical robot is a dual-arm prototype developed with a redundant and modular mechanical structure, designed to be reconfigured for different surgical tasks, and with a hybrid parallel/serial kinematics. The motion planning solution proposed in the paper includes both an online collision-free path planner, based on the RRT-Connect algorithm, and a generator of predefined motion primitives. This solution allows the multi-arm robot to autonomously execute the complex motion patterns required for a suturing task. Since such motion patterns are specified in the Cartesian space, an efficient and univocal solution of the inverse kinematics of the robot, which is a challenging problem due to its hybrid structure, is another crucial issue addressed in the paper. |
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| DOI: | 10.1109/IROS.2015.7353554 |