Screw theory based-design and tracking control of an endoscopic parallel manipulator for laparoscopic surgery

Khalil Ibrahim, Ahmed A. Ramadan, Mohamed Fanni, Yo Kobayashi, Ahmed A. Abo-Ismail, Masakatsu G. Fujie. Screw theory based-design and tracking control of an endoscopic parallel manipulator for laparoscopic surgery. In 2013 IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, May 6-10, 2013. pages 2491-2496, IEEE, 2013. [doi]

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