A Closed-Loop Controller for a Continuum Surgical Manipulator Based on a Specially Designed Wrist Marker and Stereo Tracking.
Haozhe YangBaibo WuXu LiuKai XuPublished in: AIM (2020)
Keyphrases
- specially designed
- closed loop
- trajectory tracking
- control system
- control law
- open loop
- reference trajectory
- neural network controller
- feedback control
- control scheme
- tracking error
- iterative learning control
- position control
- force control
- end effector
- desired trajectory
- parameter identification
- external disturbances
- pid controller
- feedback controller
- asymptotic stability
- disturbance rejection
- bi directional
- dc motor
- dynamic model
- visual servoing
- nonlinear systems
- real time
- robot arm
- sliding mode
- control loop
- physical constraints
- controller design
- guaranteed cost
- controller synthesis
- variable structure
- minimally invasive surgery
- adaptive fuzzy
- robot manipulators
- control algorithm
- intraoperative
- particle filter