Name
Abstract | ||
|---|---|---|
Robotic control of flexible devices can enhance and simplify many medical procedures. We present a method for controlling a tendon-driven continuum manipulator by means of specifying the shape configuration. The basis for control is a linear beam configuration model that transforms beam configuration to tendon displacement by modeling internal loads of the compliant system. An essential aspect of this model is the inclusion of both themechanical and geometrical coupling among serial articulating sections. Important capabilities of this model are the general forward kinematics and the decoupled inverse kinematics that allow for independent control of multiple sections. Tracking results are presented for a cardiac catheter with two articulating sections. |
Year | DOI | Venue |
|---|---|---|
2009 | 10.1109/TRO.2009.2022426 | IEEE Transactions on Robotics |
Keywords | Field | DocType |
Tendons,Manipulators,Shape control,Medical control systems,Kinematics,Medical robotics,Robot control,Displacement control,Load modeling,Solid modeling | Robot control,Kinematics,Coupling,Inverse kinematics,Control theory,Continuum mechanics,Control engineering,Forward kinematics,Solid modeling,Artificial intelligence,Robotics,Mathematics | Journal |
Volume | Issue | ISSN |
25 | 4 | 1552-3098 |
Citations | PageRank | References |
50 | 2.93 | 13 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| David B. Camarillo | 1 | 295 | 19.96 |
| Christopher R. Carlson | 2 | 64 | 5.43 |
| John Kenneth Salisbury Jr. | 3 | 1403 | 200.30 |