Inverse kinematics and control of 4-degree-of-freedom wire-actuated in vivo robot.
Mihir Kumar SutarPushparaj Mani PathakN. K. MehtaA. K. SharmaV. K. GuptaPublished in: J. Syst. Control. Eng. (2015)
Keyphrases
- inverse kinematics
- robot manipulators
- force control
- end effector
- robot arm
- control scheme
- position and orientation
- motion planning
- degrees of freedom
- hand eye coordination
- force feedback
- control strategies
- visual servoing
- dynamic model
- control system
- control law
- control strategy
- mobile robot
- closed loop
- pose estimation
- vision system
- joint angles
- adaptive control
- global optimization
- robot control
- robotic systems
- evolutionary algorithm
- three dimensional
- real world