Accelerated Dual Neural Network Controller for Visual Servoing of Flexible Endoscopic Robot With Tracking Error, Joint Motion, and RCM Constraints

Aiming at the requirements for endoscope in minimally invasive surgery, a dual neural network (DNN) controller is designed for a flexible endoscopic robot (FER) with 10 DOF. First, the FER's kinematics model with remote center of motion (RCM) constraints is established. Then, a quadratic programming control scheme involving the tracking error, joint motion, and RCM constraints of the FER is propos...