Robotic compliant grinding of curved parts based on a designed active force-controlled end-effector with optimized series elastic component.
Haiqing ChenJixiang YangHan DingPublished in: Robotics Comput. Integr. Manuf. (2024)
Keyphrases
- end effector
- robotic manipulator
- position control
- degrees of freedom
- robotic arm
- manipulation tasks
- robot arm
- inverse kinematics
- vision system
- visual servoing
- robot manipulators
- control scheme
- surgical robot
- mobile robot
- robotic systems
- motion planning
- closed loop
- force feedback
- control system
- impedance control
- hand eye calibration
- force control
- dynamic model
- position and orientation
- control strategy
- minimally invasive
- control law
- minimally invasive surgery
- pose estimation
- multi modal