Implementation of Bilateral Control System Based on Acceleration Control Using FPGA for Multi-DOF Haptic Endoscopic Surgery Robot.
Hiroyuki TanakaKouhei OhnishiHiroaki NishiToshikazu KawaiYasuhide MorikawaSoji OzawaToshiharu FurukawaPublished in: IEEE Trans. Ind. Electron. (2009)
Keyphrases
- control system
- force feedback
- end effector
- robotic manipulator
- robotic arm
- motion control
- degrees of freedom
- robot assisted
- control architecture
- real time
- position control
- control loop
- surgical robot
- minimally invasive
- control law
- minimally invasive surgery
- control strategy
- trajectory tracking
- visual servoing
- pid regulator
- coronary artery bypass
- visual feedback
- control method
- wheeled mobile robot
- robot arm
- control scheme
- closed loop
- control strategies
- control algorithm
- mobile robot
- vision system
- haptic feedback
- robotic systems
- hardware implementation
- inverse kinematics
- robot manipulators
- fuzzy control
- controller design
- hardware architecture
- contact force
- force control
- virtual reality
- path planning
- autonomous robots
- surgical simulation
- fpga technology
- hand eye
- control center
- motion planning
- laparoscopic surgery
- efficient implementation
- control signals
- pose estimation
- remote monitoring
- fuzzy controller
- hardware design
- high fidelity
- intraoperative