A Kinematic Modeling and Control Scheme for Different Robotic Endoscopes: A Rudimentary Research Prototype.
Weibing LiWing Yin NgXue ZhangYisen HuangYehui LiChengzhi SongPhilip Wai Yan ChiuZheng LiPublished in: IEEE Robotics Autom. Lett. (2022)
Keyphrases
- control scheme
- control loop
- robotic manipulator
- closed loop
- control system
- dynamic model
- control strategy
- predictive control
- robot manipulators
- controller design
- pid controller
- position control
- control law
- real time
- neural model
- neural network controller
- end effector
- degrees of freedom
- fuzzy controller
- induction motor
- fault tolerant control
- force control
- inverse kinematics
- feedback control
- control algorithm
- robotic systems
- neural network