Force-position control for a miniature camera robotic system for single-site surgery.
Irene Rivas-BlancoEnrique BauzanoMaria Cuevas-RodriguezPablo del Saz-OrozcoVictor Fernand MuñozPublished in: IROS (2013)
Keyphrases
- robotic manipulator
- robotic systems
- position control
- vision system
- visual servoing
- control architecture
- force control
- laparoscopic surgery
- end effector
- mobile robot
- impedance control
- force feedback
- degrees of freedom
- control scheme
- minimally invasive surgery
- autonomous robots
- real time
- genetic algorithm
- multi robot
- control strategy
- camera motion
- multi objective
- robot manipulators
- robot control
- real robot
- visual feedback
- manipulation tasks
- closed loop
- control system