Force Control of Surgical Robot with Time Delay using Model Predictive Control.
Jasmeet Singh LadoiyeDan S. NecsulescuJurek Z. SasiadekPublished in: ICINCO (2) (2018)
Keyphrases
- force control
- model predictive control
- predictive control
- control system
- robot manipulators
- control strategy
- end effector
- control scheme
- closed loop
- minimally invasive surgery
- control law
- robot assisted
- minimally invasive
- control algorithm
- inverse kinematics
- pid controller
- mathematical model
- optimal control
- real time
- force feedback
- degrees of freedom
- fuzzy logic
- control method
- visual servoing
- fuzzy controller
- fuzzy neural network
- robotic arm
- control strategies
- fuzzy control
- robot arm
- nonlinear systems
- intraoperative
- neuro fuzzy
- dynamic model
- computer assisted
- augmented reality
- computer vision