Task-space position control of concentric-tube robot with inaccurate kinematics using approximate Jacobian.
Mohamed Nassim BoushakiChao LiuPhilippe PoignetPublished in: ICRA (2014)
Keyphrases
- end effector
- position control
- robot arm
- robotic manipulator
- degrees of freedom
- force control
- inverse kinematics
- robot manipulators
- vision system
- tactile sensing
- mobile robot
- control scheme
- visual servoing
- parallel robot
- configuration space
- robot control
- genetic algorithm
- position and orientation
- path planning
- control system
- control architecture
- motion planning
- force feedback
- robotic systems
- human body
- artificial neural networks