Hybrid Vision/Force Control of Soft Robot Based on a Deformation Model.
Hesheng WangHang NiJingchuan WangWeidong ChenPublished in: IEEE Trans. Control. Syst. Technol. (2021)
Keyphrases
- force control
- deformation model
- position control
- robot manipulators
- robotic cell
- control strategy
- closed loop
- vision system
- rotation and translation
- real time
- shape model
- control scheme
- deformation field
- computer vision
- object representation
- control law
- affine transformation
- control system
- control architecture
- registration process
- surface registration
- dynamic model
- facial animation
- b spline
- thin plate spline
- control algorithm
- image registration