A Constant-Force End-Effector With Online Force Adjustment for Robotic Ultrasonography.
Xianqiang BaoShuangyi WangRichard James HousdenJoseph V. HajnalKawal S. RhodePublished in: IEEE Robotics Autom. Lett. (2021)
Keyphrases
- end effector
- robotic manipulator
- position control
- degrees of freedom
- robotic arm
- robot arm
- manipulation tasks
- inverse kinematics
- robot manipulators
- force feedback
- vision system
- control scheme
- visual servoing
- impedance control
- surgical robot
- control system
- motion planning
- real time
- mobile robot
- hand eye calibration
- closed loop
- force control
- robotic systems
- control strategies
- control law
- contact force
- pid controller
- pose estimation
- dynamic programming