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Improving position precision of a servo-controlled elastic cable driven surgical robot using Unscented Kalman Filter.
Mohammad Haghighipanah
Yangming Li
Muneaki Miyasaka
Blake Hannaford
Published in:
IROS (2015)
Keyphrases
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unscented kalman filter
position and orientation
constant velocity
degrees of freedom
end effector
kalman filter
dynamic model
extended kalman filter
state estimation
pose estimation
minimally invasive surgery
inverse kinematics
visual tracking
inertial sensors
robot assisted
neural network
real time
control system