Compliance force control for Polish cardiosurgical manipulator RobIn Heart.

Alicja Mazur Leszek Podsedkowski Adrian Szymanski Marcin Zawierucha

Published in: RoMoCo (2013)

Keyphrases

force control
robot manipulators
closed loop
control strategy
robotic cell
inverse kinematics
contact force
control scheme
control law
end effector
impedance control
control architecture
control system
position control
neural network
dynamic model