Coordinated control of a 3DOF cartesian robot and a shape memory alloy-actuated flexible needle for surgical interventions: a non-model-based control method.
Fan LiangBryan J. TraughberTithi BiswasGordon GuoRaymond F. Muzic Jr.Tarun Kanti PodderPublished in: Robotica (2022)
Keyphrases
- control method
- control strategy
- adaptive control
- shape memory alloy
- position control
- force control
- neural controller
- control scheme
- control algorithm
- control system
- trajectory tracking
- control law
- robotic manipulator
- pid controller
- fuzzy pid control
- control strategies
- end effector
- robot manipulators
- visual servoing
- mobile robot
- lyapunov function
- vision system
- operating conditions
- dc dc converter
- path planning
- fuzzy control
- mathematical model
- nonlinear systems
- robotic systems
- variable structure
- optimal control
- feedback control
- fuzzy controller
- position and orientation
- autonomous robots
- fuzzy neural network
- motion planning
- input output
- desired trajectory
- control parameters
- adaptive fuzzy
- intelligent control
- neural network
- closed loop
- fuzzy logic
- artificial neural networks