Cascade robot force control architecture for autonomous beating heart motion compensation with model predictive control and active observer.
Michel DominiciRui CortesãoPublished in: BioRob (2014)
Keyphrases
- force control
- beating heart
- motion compensation
- model predictive control
- control architecture
- robot manipulators
- control system
- robotic systems
- control strategy
- motion compensated
- motion estimation
- closed loop
- motion vectors
- video coding
- motion field
- control law
- real time
- minimally invasive
- control scheme
- magnetic resonance imaging
- mobile robot
- vision system
- pid controller
- end effector
- intraoperative
- medical images
- fuzzy logic
- respiratory motion
- augmented reality
- image processing