Force-Free Control for Direct Teaching of a Surgical Assistant Robot End Effector with Wire-Driven Bidirectional Telescopic Mechanism.
Youqiang ZhangCheol-Su JeongMinhyo KimSangrok JinPublished in: Sensors (2021)
Keyphrases
- end effector
- degrees of freedom
- robot manipulators
- force feedback
- visual servoing
- robotic manipulator
- robot arm
- vision system
- inverse kinematics
- surgical robot
- robot assisted
- robotic arm
- force control
- position control
- minimally invasive surgery
- hand eye calibration
- control law
- joint space
- motion planning
- impedance control
- mobile robot
- manipulation tasks
- control scheme
- intraoperative
- robot control
- control strategies
- mathematical model
- robotic systems