Robotic palpation modeling for kuka lbr iiwa using gazebo simulator

Abstract

Palpation is one of diagnostic methods being extensively used in medical practice. It is often used for tumor detection in cancer screening but its efficacy is highly dependent on examining physician’s skill. Therefore, using a robotic tool could make this procedure more objective. In this paper, we present our control and perception modules of autonomous palpation robotic system. We have modeled KUKA LBR IIWA manipulator control using MoveIt motion planning in Robot Operating System and validated it in Gazebo simulator.