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Sensor-free Force Control of Tendon-driven Ablation Catheters through Position Control and Contact Modeling.
Mohammad Jolaei
Amir Hooshiar
Amir Sayadi
Javad Dargahi
Muthukumaran Packirisamy
Published in:
EMBC (2020)
Keyphrases
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force control
contact force
position control
robot manipulators
closed loop
impedance control
control strategy
master slave
finite element analysis
control law
finite element model
force feedback
computer vision
real time
inverse kinematics
finite element
control system