Preliminary results on OCT-based position control of a concentric tube robot.
Y. BaranKanty RabenorosoaGuillaume J. LaurentPatrick RougeotNicolas AndreffBrahim TamadaztePublished in: IROS (2017)
Keyphrases
- position control
- force control
- robotic manipulator
- control scheme
- end effector
- robot arm
- closed loop
- tactile sensing
- robot manipulators
- control system
- dc motor
- degrees of freedom
- control strategies
- feedback loop
- mobile robot
- pid controller
- robotic systems
- vision system
- control architecture
- visual servoing
- inverse kinematics
- control strategy
- real time
- dynamic model
- control law
- force feedback
- robotic arm
- autonomous robots
- motion planning
- reinforcement learning
- computer vision