Position control of a surgical robot by a navigation system.
Peter KnappeIngo GrossSebastian PieckJürgen WahrburgStephan KünzlerFridun KerschbaumerPublished in: IROS (2003)
Keyphrases
- position control
- end effector
- degrees of freedom
- minimally invasive surgery
- robotic manipulator
- robot arm
- control scheme
- vision system
- inverse kinematics
- robot manipulators
- closed loop
- robot assisted
- visual servoing
- force control
- force feedback
- control strategies
- control law
- robotic arm
- minimally invasive
- control system
- motion planning
- feedback loop
- computer vision
- pid controller
- pose estimation
- dc motor
- joint angles
- image space
- robotic systems
- dynamic model
- control strategy
- human computer interaction