A resolved-rate controller for the four out-of-view RCM joints is shown to stay stable while the fourth-joint reading error stays below 75 degrees, with a bilevel extension for the full arm.
Model-predictive control of blood suction for surgical hemostasis using differentiable fluid simulations,
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Stable Tracking-in-the-Loop Control of Cable-Driven Surgical Manipulators under Erroneous Kinematic Chains
A resolved-rate controller for the four out-of-view RCM joints is shown to stay stable while the fourth-joint reading error stays below 75 degrees, with a bilevel extension for the full arm.