Cartesian and joint space teleoperation for nonholonomic steerable needles.
Ann MajewiczAllison M. OkamuraPublished in: World Haptics (2013)
Keyphrases
- joint space
- end effector
- motion planning
- inverse kinematics
- degrees of freedom
- control law
- trajectory planning
- force feedback
- robot arm
- mobile robot
- robot manipulators
- path planning
- humanoid robot
- visual servoing
- vision system
- closed loop
- image guided
- adaptive control
- obstacle avoidance
- control strategy
- pose estimation
- position and orientation
- control algorithm
- image sequences
- control system
- configuration space
- autonomous robots
- neural network
- nonlinear systems
- moving objects
- real time
- control scheme
- dynamic environments
- spatio temporal