A Feed-forward Friction Compensation Motion Controller for a Tendon-Sheath-Driven Flexible Robotic Gripper
Refereed conference paper presented and published in conference proceedings


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AbstractThe flexible endoscope has great potential to reach a diseased organ through a natural opening of the human body to perform surgeries without leaving a scar on the body surface. Despite such advances in reaching the diseased organ, using the conventional flexible endoscope to complete surgical procedure is still largely constrained by the limited degree-of-freedoms (DOFs) of endoscopic instruments. A 3-DOFs robotic gripper, which is designed to work through the channel of a flexible endoscope and driven by tendon-and-sheath system (TSS), has therefore been developed. In order to perform precise trajectory tracking for complex surgical procedures, this paper aims to analyze the friction loss of the flexible robotic gripper inherent to TSS and generate compensation methods for developing an intelligent motion controller for this robotic gripper. The experiment results showed improvement in the trajectory tracking performance after applying the designed compensation techniques.
All Author(s) ListXu WJ, Leung HK, Chiu PWY, Poon CCY
Name of ConferenceIEEE International Conference on Robotics and Biomimetics (ROBIO)
Start Date of Conference12/12/2013
End Date of Conference14/12/2013
Place of ConferenceShenzhen
Country/Region of ConferenceChina
Detailed descriptionorganized by IEEE,
Year2013
Month1
Day1
PublisherIEEE
Pages2112 - 2117
eISBN*****************
LanguagesEnglish-United Kingdom
Web of Science Subject CategoriesMathematical & Computational Biology; Robotics

Last updated on 2020-24-10 at 02:36