Position Control and Vibration Suppression for Flexible-Joint Surgical Robot.
Shuizhong ZouBo PanYili FuShuxiang GuoPublished in: CRC (2018)
Keyphrases
- position control
- end effector
- robotic manipulator
- control scheme
- degrees of freedom
- force control
- robot arm
- closed loop
- control system
- vision system
- control strategies
- minimally invasive surgery
- robot manipulators
- feedback loop
- visual servoing
- inverse kinematics
- pid controller
- minimally invasive
- robot assisted
- genetic algorithm
- robotic arm
- dynamic model
- three dimensional
- computer vision