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In this paper, a novel closed-loop inverse kinematics scheme that is capable of handling inequality constraints is proposed. By a proper adoption of slack variables and using the task priority concept, the proposed method allows for the accommodation of inequality constraints in a closed-form inverse kinematics solution for robotic manipulators. Unlike other formulations, the proposed scheme does...
In this paper, a novel approach for automated suturing is introduced and experimental results are presented. Unlike other similar works, the proposed approach adopts a single arm to implement a suturing task with a standard laparoscopic needle holder and curved suture needle. 3D information is obtained from a clinical (single camera) endoscope through an elliptical/circular pose measurement algorithm,...
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