Hierarchical optimization Control of Redundant Manipulator for Robot-assisted Minimally Invasive Surgery.
Yingbai HuHang SuGuang ChenGiancarlo FerrignoElena De MomiAlois C. KnollPublished in: IROS (2020)
Keyphrases
- hand eye
- robot manipulators
- robotic arm
- end effector
- computer controlled
- control system
- robotic manipulator
- degrees of freedom
- force control
- control method
- trajectory tracking
- inverse kinematics
- mobile robot
- autonomous robots
- vision system
- visual servoing
- master slave
- robot arm
- path planning
- optimization algorithm
- motion control
- robotic systems
- robot control
- motor learning
- motion planning
- skill learning
- sliding mode control
- control architecture
- control strategy
- control signals
- force feedback
- human robot interaction
- robot navigation
- closed loop
- hand eye calibration
- semi autonomous
- position and orientation
- walking robot
- robot teams
- hierarchical structure
- optimization problems
- robot behavior
- pose estimation
- visual feedback
- multi robot
- bi directional
- human operators