The SEA-Scope: Torque-limited endoscopic joint control for telemanipulation or visual servoing through tendon force control with series elastic actuation.
Lorin FaselNicolas GerigPhilippe C. CattinGeorg RauterPublished in: ISMR (2021)
Keyphrases
- force control
- position control
- visual servoing
- control law
- control strategy
- control algorithm
- closed loop
- robot manipulators
- end effector
- control scheme
- control system
- impedance control
- robotic manipulator
- image based visual servoing
- robotic arm
- vision system
- visual feedback
- optimal control
- mobile robot
- motion planning
- control method
- inverse kinematics
- real time
- image space
- dynamical systems
- control strategies
- virtual reality
- fuzzy logic
- dynamic programming
- neural network
- pid controller
- control architecture
- robot control
- dynamic model
- mathematical model
- least squares
- reinforcement learning