Remote Center of Motion

Implementation of Task Control with Remote Center of Motion Constraint for Minimally Invasive Robotic Surgery Aghakhani et al. with ROS and Moveit! integration.

Overview

Two classes provide functionallity

• RCMImpl, computes joint angle updates under the control law presented in the paper

• RCMActionServer, has a RCMImpl and implements a state machine that communicates to ROS via an action client

Overview shown below

Configuration

Configurations in params.yml.

• RCM computed in between links link_pi and link_pip1
• Controls planning_group, as defined by Moveit! setup assistant
• Joint position goals published to action server under control_client