Dynamic Model and Control for A Cable‐driven Continuum Manipulator Used for Minimally Invasive Surgery

xlomafota13 shared this article with you from Inoreader Dynamic Model and Control for A Cable‐driven Continuum Manipulator Used for Minimally Invasive Surgery Via The International Journal of Medical Robotics and Computer Assisted Surgery Abstract Background Due to its unique flexible and dexterity, continuum robot has been widely used in small constrained environment. However, those advantages also bring that Motion modeling and accurate control for the continuum robot is more complicated and tedious. A dynamic model and control strategy is presented for improving its control performance. Methods The kinematics and velocity model of the robot is derived. And the inertial force, elastic force, gravity and actuation force applied to the continuum robot are analyzed, respectively. Meanwhile, the friction in drive system is investigated and dynamic model is established by the Kane's method. Finally, a motion control strategy is proposed based on this model to verify the dynamic model. Results Results of the simulation and experiment of a prototype verify the proposed model and its control method. Conclusions The proposed model and control strategy can be used to achieve the bending deformation of the robot. This article is protected by copyright. All rights reserved. View on the web Inoreader. Take back control of your news feed. Follow us on Twitter and Facebook.