Use of a Force-Torque Sensor for Self-Calibration of a 6-DOF Medical Robot.
Ahmed JoubairLong Fei ZhaoPascal BigrasIlian A. BonevPublished in: Sensors (2016)
Keyphrases
- contact force
- position control
- force control
- robotic manipulator
- control scheme
- end effector
- force feedback
- master slave
- closed loop
- robot arm
- control system
- degrees of freedom
- finite element analysis
- robotic arm
- control strategies
- tactile sensing
- robot manipulators
- vision sensor
- dc motor
- camera calibration
- joint space
- motion planning
- focal length
- multiple views
- finite element model
- control architecture
- parallel robot
- mobile robot
- sensor data
- path planning
- closed form
- multi sensor
- camera parameters
- feedback loop
- visual servoing
- radial distortion
- pid controller
- control law
- human robot interaction
- robotic systems
- scene structure
- computer vision
- multi view
- force sensing
- projective camera