End-Effector Approach Flexibilization in a Surface Approximation Task Using a Bioinspired Tactile Sensing Module.
Thiago Eustaquio Alves de OliveiraVinicius Prado da FonsecaBruno Monteiro Rocha LimaAna-Maria CretuEmil M. PetriuPublished in: ROSE (2019)
Keyphrases
- tactile sensing
- end effector
- degrees of freedom
- position control
- vision system
- robot arm
- inverse kinematics
- robot manipulators
- quasi static
- robotic manipulator
- visual servoing
- minimally invasive
- motion planning
- minimally invasive surgery
- robotic arm
- force feedback
- control scheme
- joint angles
- feedback loop
- configuration space
- control law