Continuous Path Controller of Slave Manipulator in Remote Ultrasound Diagnostic System.
Norihiro KoizumiShin'ichi WarisawaMamoru MitsuishiHiroyuki HashizumePublished in: ICRA (2002)
Keyphrases
- master slave
- control system
- contact force
- control method
- closed loop
- robotic manipulator
- real time
- trajectory tracking
- computer aided
- control algorithm
- ultrasound images
- laparoscopic surgery
- control law
- pid controller
- control architecture
- control scheme
- optimal control
- adaptive control
- dynamic model
- inverse kinematics
- control strategy
- degrees of freedom
- force control
- parallel manipulator
- control theory
- robot manipulators
- computer controlled
- path planning
- mathematical model
- neural network