This paper uses Model Predictive Control (MPC) to optimise the input torques of a Three-Degrees-of-Freedom (DOF) robotic arm, enabling it to operate to the target position and grasp the object ...

This paper presents a new type of 4-degree-of-freedom (DOF) robotic surgical instrument for a minimally invasive surgical robot system. The forceps wrist mechanism was designed here on the basis of ...