Dynamic-based RCM Torque Controller for Robotic-Assisted Minimally Invasive Surgery.

Marco Minelli Cristian Secchi

Published in: IROS (2021)

Keyphrases

contact force
real time
control strategy
control algorithm
control scheme
control system
data sets
mobile robot
dynamic environments
robotic manipulator
dynamic model
control loop
feedback loop
input output
mathematical model
vision system
evolutionary algorithm