Referenced Items are not available for this document.
In this paper the dynamics and control of the underactuated flexible needle will be discussed. To evaluate the dynamics of the needle, the study uses Saint Venant-Kirchhoff and finite element method. The model is validated using the experimental data provided in the literature. It is also shown that using iterative decomposition of the dynamics equation the unactuated degree of freedom of the needle tip can be feedback linearized. The effect of the control signal exerted on the tip is projected via iterative decomposition of the dynamics equation. The efficiency of the approach will be next explored through some examples.
Published in:
Industrial Electronics (ISIE), 2012 IEEE International Symposium on
Date of Conference: 28-31 May 2012
- Page(s):
- 831 - 834
- ISSN :
- 2163-5137
- E-ISBN :
- 978-1-4673-0157-2
- Print ISBN:
- 978-1-4673-0159-6
- INSPEC Accession Number:
- 12863457
- Conference Location :
- Hangzhou
- Digital Object Identifier :
- 10.1109/ISIE.2012.6237196
- Product Type:
- Conference Publications
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