A compliant constant-force mechanism for adaptive robot end-effector operations.
Chao-Chieh LanJhe-Hong WangYi-Ho ChenPublished in: ICRA (2010)
Keyphrases
- end effector
- degrees of freedom
- vision system
- robot manipulators
- inverse kinematics
- robot arm
- force feedback
- visual servoing
- robotic manipulator
- position control
- robotic arm
- force control
- hand eye calibration
- joint space
- manipulation tasks
- motion planning
- target position
- control law
- position and orientation
- surgical robot
- joint angles
- configuration space
- robot assisted
- real time
- image space
- impedance control
- computer vision