Robotic endoscopic capsule for closed-loop force-based control and safety strategies.
Renato CaliòDomenico CamboniJoan Ortega AlcaideCalogero Maria OddoMaria Chiara CarrozzaArianna MenciassiGastone CiutiPaolo DarioPublished in: CBS (2017)
Keyphrases
- closed loop
- position control
- control loop
- open loop
- control system
- control scheme
- robotic manipulator
- force control
- feedback control
- control strategies
- control law
- guaranteed cost
- disturbance rejection
- parameter identification
- feedback controller
- pid controller
- dc motor
- reference trajectory
- control strategy
- control theory
- real time
- feedback loop
- trajectory tracking
- asymptotic stability
- intelligent control
- mobile robot
- end effector
- induction motor
- adaptive control
- robot manipulators
- linear quadratic
- robot arm
- autonomous robots
- fuzzy control
- control method
- control algorithm
- robotic systems
- sliding mode
- fuzzy model
- degrees of freedom
- external disturbances
- minimally invasive