Suturing in confined spaces: Constrained motion control of a hybrid 8-DoF robot

Keyphrases

• Confined Space 100%
• Six Degrees of Freedom Robot 100%
• Snake-like 100%
• Constrained Motion Control 100%
• Joint Limits 50%
• Limit Torque 50%
• Weighted multi-objective Optimization 50%
• Two-degree-of-freedom 50%
• Joint Variables 50%
• High-level Control 50%
• Vector Space 50%
• Telerobotic System 50%
• Redundancy Resolution 50%
• Multi-objective Optimization Framework 50%
• Torque Limit 50%

Engineering

• Degree of Freedom 100%
• Motion Control 100%
• Multiobjective Optimization 25%
• Level Control 25%
• Two Degree of Freedom 25%
• Robotic System 25%
• Joint Variable 25%
• Space Vector 25%