Robotic Actuation and Control of a Catheter for Structural Intervention Cardiology.
Xiu ZhangMaria Chiara PalumboFrancesca PericoMattia MagroAndrea FortunaTommaso MagniEmiliano VottaAlice SegatoElena De MomiPublished in: IROS (2022)
Keyphrases
- robotic systems
- robotic manipulator
- control loop
- structural information
- control system
- hand eye
- robotic arm
- real time
- control strategy
- control method
- autonomous robots
- control strategies
- human operators
- mathematical model
- mechanical design
- mobile robot
- position control
- disturbance rejection
- optimal control
- robot behavior