Six-axis bilateral control of an articulated slave manipulator using a Cartesian master manipulator.
Masao InoueKatsuhiko YamadaKen-Ich TanakaJun NakagawaKazuo MachidaYoshitsugu TodaPublished in: Adv. Robotics (1989)
Keyphrases
- master slave
- control method
- robotic arm
- control system
- laparoscopic surgery
- robot manipulators
- hand eye
- computer controlled
- end effector
- inverse kinematics
- robotic manipulator
- degrees of freedom
- force control
- control strategy
- parallel manipulator
- trajectory tracking
- control algorithm
- closed loop
- force feedback
- contact force
- three dimensional
- computer vision
- dynamic model
- vision system
- articulated objects
- adaptive control
- optimal control