Hybrid Vision-Force Robot Force Control for Tasks on Soft Tissues.
Qi ShengZhihang GengLei HuaXinjun ShengPublished in: M2VIP (2021)
Keyphrases
- force control
- position control
- robot manipulators
- soft tissue
- robotic cell
- closed loop
- control strategy
- impedance control
- control law
- medical images
- contact force
- vision system
- end effector
- finite element
- control scheme
- autonomous robots
- real time
- computer vision
- robot arm
- robotic systems
- control system
- service robots
- magnetic resonance
- deformable models
- control structure
- robotic manipulator
- manipulation tasks
- elastic properties
- control architecture
- real robot
- inverse kinematics
- human robot interaction
- mathematical model
- pid controller
- automatic segmentation
- image data