Position Control of Needle Tip Based on Physical Properties of Liver and Force Sensor.
Yo KobayashiJun OkamotoMasakatsu G. FujiePublished in: J. Robotics Mechatronics (2006)
Keyphrases
- position control
- force control
- control scheme
- contact force
- robotic manipulator
- closed loop
- control strategies
- robot arm
- control system
- dc motor
- end effector
- feedback loop
- impedance control
- pid controller
- degrees of freedom
- control strategy
- control architecture
- robot manipulators
- real time
- tactile sensing
- control method
- force feedback
- control law
- dynamic model
- position and orientation
- vision system
- motion planning