Deformation Control of a 3D Soft Object Using RGB-D Visual Servoing and FEM-Based Dynamic Model.
Mandela Ouafo FonkouaFrançois ChaumetteAlexandre KrupaPublished in: IEEE Robotics Autom. Lett. (2024)
Keyphrases
- visual servoing
- dynamic model
- trajectory tracking
- image based visual servoing
- control law
- vision system
- mobile robot
- robot control
- experimental data
- control scheme
- finite element method
- robotic arm
- finite element model
- visual feedback
- image space
- end effector
- closed loop
- finite element
- control theory
- camera motion
- control system
- nonlinear systems
- d objects
- moving objects
- model free
- control algorithm
- parallel manipulator
- neural network
- robot manipulators
- real time
- least squares
- sliding mode
- three dimensional