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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摘要The 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.
著者Xu WJ, Leung HK, Chiu PWY, Poon CCY
會議名稱IEEE International Conference on Robotics and Biomimetics (ROBIO)
會議開始日12.12.2013
會議完結日14.12.2013
會議地點Shenzhen
會議國家/地區中國
詳細描述organized by IEEE,
出版年份2013
月份1
日期1
出版社IEEE
頁次2112 - 2117
電子國際標準書號*****************
語言英式英語
Web of Science 學科類別Mathematical & Computational Biology; Robotics

上次更新時間 2020-15-11 於 00:49