Physiological motion rejection in flexible endoscopy using visual servoing and repetitive control : Improvements on non-periodic reference tracking and non-periodic disturbance rejection.
Laurent OttFlorent NageottePhilippe ZanneMichel de MathelinPublished in: ICRA (2009)
Keyphrases
- visual servoing
- disturbance rejection
- control law
- camera motion
- robot motion
- end effector
- image based visual servoing
- trajectory tracking
- closed loop
- vision system
- control system
- mobile robot
- robotic arm
- motion planning
- robot control
- image sequences
- optical flow
- control scheme
- pid controller
- real time
- robotic systems
- degrees of freedom
- moving objects
- neural network