A Visual Servoing Controller for Surgical Anthropomorphic Robot (Da Vinci)

Final Project for Medical Robotics course 2018-2019, Università La Sapienza Roma

Approach

We started working on a implementation made by other students from Medical Robs course. Our task is to upgrade and implement new features. In particular we performed a parameter tuning for convergence and we implemented the inverse kinematics of the model starting from the original paper.

Project status

Completed

Running the test

cd /current_work_2020
vrep finalScene.ttt -s
matlab finalScript.m

Video Demo

Click on the image for complete video

Team

• Michele Ciciolla

• Flavio Lorenzi

Documentation

You can read our final technical documentation about this project here DOCUMENTATION