Configuration Transition Control of a Continuum Surgical Manipulator for Improved Kinematic Performance.
Shu'an ZhangQi LiHaozhe YangJiangran ZhaoKai XuPublished in: IEEE Robotics Autom. Lett. (2019)
Keyphrases
- end effector
- degrees of freedom
- control system
- inverse kinematics
- parallel manipulator
- robot manipulators
- control method
- laparoscopic surgery
- wheeled mobile robots
- robotic arm
- minimally invasive surgery
- master slave
- force control
- robotic manipulator
- visual servoing
- configuration space
- hand eye
- computer controlled
- trajectory tracking
- closed loop
- visual feedback
- control theory
- kinematic model
- optimal control
- robot control
- pose estimation
- intraoperative
- control scheme
- mechanical systems
- vision system
- neural network