A Modified Computed Torque Control Approach for a Master-Slave Robot Manipulator System.
Ololade O. ObadinaMohamed A. ThahaKaspar AlthoeferM. Hasan ShaheedPublished in: TAROS (2018)
Keyphrases
- master slave
- robot manipulators
- control scheme
- contact force
- force control
- robotic arm
- control of robot manipulators
- control strategy
- inverse kinematics
- dynamic model
- induction motor
- control system
- closed loop
- laparoscopic surgery
- end effector
- trajectory planning
- sliding mode
- control method
- particle swarm optimization pso
- mathematical model
- artificial neural networks
- real time