Towards FBG-based End-Effector Force Estimation for a Steerable Continuum Robot.
Timothy A. BrumfielAchraj SarmaJaydev P. DesaiPublished in: ISMR (2022)
Keyphrases
- end effector
- degrees of freedom
- vision system
- robot arm
- inverse kinematics
- robot manipulators
- force feedback
- visual servoing
- robotic manipulator
- robotic arm
- manipulation tasks
- hand eye calibration
- position control
- joint space
- pose estimation
- control law
- surgical robot
- motion planning
- closed loop
- control scheme
- dynamic model
- real time
- joint angles
- mobile robot
- viewpoint
- computer vision
- neural network